A Norm-Free Adaptive Event-Triggering Law for Distributed Control of Nonholonomic Mobile Robots⋆

In this paper, the problem of scheduling data transmissions in multiagent systems, which are composed of a team of nonholonomic mobile robots, is studied. To represent the equations of motion of each robot as double integrator dynamics, we first feedback linearize the robot dynamics that allows us to avoid nonholonomic control architecture synthesis. We then propose a decentralized, norm-free, and adaptive event-triggering rule for control of this multiagent system in a distributed manner with reduced robot-to-robot position and velocity data transmissions. Stability of the resulting event-triggered multiagent system is presented and an illustrative numerical example is also included to demonstrate its efficacy.