Event-triggered feedback control of differential driver mobile robot

Xiaohan Li

doi:10.1117/12.3011501

1 December 2023 Event-triggered feedback control of differential driver mobile robot

Xiaohan Li

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 129401K (2023) https://doi.org/10.1117/12.3011501
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

This paper presents the development of a model-based event-triggered control strategy for addressing the stabilization problem in nonholonomic robots. The proposed strategy is implemented in a practical setup. To handle the inherent nonlinearity of nonholonomic robots, feedback control is employed. Additionally, an event-triggered tactic is incorporated to alleviate communication burdens and computational loads, while ensuring system performance. The stability of the closed-loop system is rigorously guaranteed. Furthermore, comprehensive analyses of experimental results are provided, encompassing simulations as well as real-world experiments.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Xiaohan Li "Event-triggered feedback control of differential driver mobile robot", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 129401K (1 December 2023); https://doi.org/10.1117/12.3011501

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available