Global event-triggered regulation of unicycle dynamics by bounded control

The problem of stabilization of the position of a mobile robot using its cinematic (unicycle type) model is considered. The suggested control is discontinuous and bounded; moreover, it guarantees a global solution to the posed problem. The properties of the proposed control law are analyzed by applying the Lyapunov function method. An eventtriggering realization of the control algorithm is presented, and its performance and tuning are evaluated through simulations.