An Event–Triggered Robust Control for Unicycle Mobile Robots with Communication, State, and Input Constraints

This paper contributes to designing a sampled robust controller for the trajectory tracking problem in constrained unicycle mobile robots. The proposed controller comprises the design of an aperiodic control law based on an event-triggered controller and a periodic control law based on a constant sampled state-feedback controller. The state-feedback-based event-triggered control is designed by means of the attractive ellipsoid method and the barrier Lyapunov function and provides a safe set, where the state constraints are not transgressed, and a switching set that defines the region where each part of the controller is active. The periodic sampled control part is designed taking into account a maximum sampling time and is active inside the switching set. The proposed strategy ensures the input-to-state stability of the tracking error dynamics with respect to external disturbances. A constructive and simple method based on linear matrix inequalities is proposed to compute the controller gains. Simulation results illustrate the feasibility of the proposed approach.