TY - JOUR
T1 - Stabilization of a (3,0) mobile robot by means of an event-triggered control
AU - Villarreal-Cervantes, Miguel G.
AU - Guerrero-Castellanos, J. Fermi
AU - Ramírez-Martínez, Soledad
AU - Sánchez-Santana, J. Pedro
N1 - Publisher Copyright:
© 2015 ISA.
PY - 2015/9
Y1 - 2015/9
N2 - 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.
AB - 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.
KW - (3,0) Mobile robot
KW - Control Lyapunov Function (CLF)
KW - Event-triggered control
UR - http://www.scopus.com/inward/record.url?scp=84943580013&partnerID=8YFLogxK
U2 - 10.1016/j.isatra.2015.06.013
DO - 10.1016/j.isatra.2015.06.013
M3 - Artículo
C2 - 26190502
SN - 0019-0578
VL - 58
SP - 605
EP - 613
JO - ISA Transactions
JF - ISA Transactions
ER -