Time-Varying Trajectory Tracking for Nonholonomic Mobile Robot Based on Event-Triggered Control

In this paper, an event-based control method is proposed to study the trajectory tracking of a two-wheel differential nonholonomic mobile robot. Firstly, the system model of the mobile robot is proposed and the control law of the two-wheel differential nonholonomic mobile robot is designed. The stability of the equilibrium point is proved by using the linearization method and Lyapunov function. Then, the stability of the system with trigger condition and Zeno phenomenon is proved. Finally, the simulation clearly shows that the proposed event triggering method can reduce the sampling frequency.