Stabilization of a (3,0) mobile robot by means of an event-triggered control.

Autor: Villarreal-Cervantes MG; Mechatronic Section, Posgraduate Department, Instituto Politécnico Nacional, CIDETEC, D.F., 07700, Mexico. Electronic address: mvillarrealc@ipn.mx., Guerrero-Castellanos JF; Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla (BUAP), Puebla 72570, Mexico. Electronic address: fguerrero@ece.buap.mx., Ramírez-Martínez S; Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla (BUAP), Puebla 72570, Mexico. Electronic address: sramirez@ece.buap.mx., Sánchez-Santana JP; Mechatronic Section, Posgraduate Department, Instituto Politécnico Nacional, CIDETEC, D.F., 07700, Mexico; Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla (BUAP), Puebla 72570, Mexico. Electronic address: jose.sanchez@uppuebla.edu.mx.
Jazyk: angličtina
Zdroj: ISA transactions [ISA Trans] 2015 Sep; Vol. 58, pp. 605-13. Date of Electronic Publication: 2015 Jul 17.
DOI: 10.1016/j.isatra.2015.06.013
Abstrakt: Event-triggered control (ETC) is a sampling strategy that updates the control value only when some events related to the state of the system occurs. It therefore relaxes the periodicity of control updates without deteriorating the closed-loop performance. This paper develops a nonlinear ETC for the stabilization of a (3,0) mobile robot. The construction of an event function and a feedback function is carried out based on the existence of a stabilizing control law and a Control Lyapunov Function (CLF). The event function is dependent on the time derivative of the CLF and the feedback function results from the extension of Sontag's formula, which ensures asymptotic stability, smoothness everywhere and continuity at the equilibrium. Experimental results, compared with a computed torque control, validate the theoretical analysis.
(Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.)
Databáze: MEDLINE
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