Periodic Event-Triggered Control strategy for a (3,0) mobile robot network

Miguel G Villarreal-Cervantes; J Pedro Sánchez-Santana; J Fermi Guerrero-Castellanos

doi:10.1016/j.isatra.2019.07.005

Periodic Event-Triggered Control strategy for a (3,0) mobile robot network

ISA Trans. 2020 Jan:96:490-500. doi: 10.1016/j.isatra.2019.07.005. Epub 2019 Jul 11.

Authors

Miguel G Villarreal-Cervantes¹, J Pedro Sánchez-Santana², J Fermi Guerrero-Castellanos³

Affiliations

¹ Mechatronic Section, Postgraduate Department, Instituto Politécnico Nacional CIDETEC, 07700, Mexico city, Mexico.
² Universidad Politécnica de Puebla, Tercer Carril del Ejido, Serrano s/n, 72640, Puebla, Mexico; Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla (BUAP), Ciudad universitaria, 72570, Puebla, Mexico.
³ Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla (BUAP), Ciudad universitaria, 72570, Puebla, Mexico. Electronic address: fermi.guerrero@correo.buap.mx.

PMID: 31320142
DOI: 10.1016/j.isatra.2019.07.005

Abstract

This work deals with the development of a nonlinear Periodic Event-Triggered Control strategy employed to the consensus of a multi-vehicle autonomous system based on (3,0) mobile robots. First, the existence of the Control Lyapunov Function (CLF) applicable to the consensus problem is proven. This is subsequently used to develop event and feedback functions. The Periodic Event-Triggered Control ensures trajectories boundedness and convergence to consensus while a specific sampling period is provided. Also, the formation problem is addressed as an extension of the presented work. Experimental results show the performance of the proposed control strategy which reduces 99.78% the number of control updates compared to a continuous control law, resulting in energy saving for the information transfer from central control to the mobile robots.

Keywords: Event-triggered control; Mobile robots; Multi-agent systems; Network control systems.