title: Stabilization of a (3,0) mobile robot by means of an event-triggered control.
abstract: 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.
authors.affiliation: Mechatronic Section, Posgraduate Department, Instituto Politécnico Nacional, CIDETEC, D.F., 07700, Mexico. Electronic address: mvillarrealc@ipn.mx.
authors.forename: Miguel G
authors.initials: MG
authors.lastname: Villarreal-Cervantes
authors.affiliation: Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla (BUAP), Puebla 72570, Mexico. Electronic address: fguerrero@ece.buap.mx.
authors.forename: J Fermi
authors.initials: JF
authors.lastname: Guerrero-Castellanos
authors.affiliation: Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla (BUAP), Puebla 72570, Mexico. Electronic address: sramirez@ece.buap.mx.
authors.forename: Soledad
authors.initials: S
authors.lastname: Ramírez-Martínez
authors.affiliation: 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.
authors.forename: J Pedro
authors.initials: JP
authors.lastname: Sánchez-Santana
keywords: (3,0) Mobile robot; Control Lyapunov Function (CLF); Event-triggered control