Event-Triggered Formation Control for Multi-Wheeled Mobile Robot Systems under A Chained Directed Network Topology

This paper focuses on the formation tracking control of multiple nonholonomic wheeled mobile robot systems. In order to optimize communication resources, a distributed communication manner combined with a static event-triggered mechanism has been introduced under a special chained directed network topology based on the mobile robot kinematic model. And each mobile robot only needs to communicate with its neighbours at some event time instants, this can reduce the controller sampling frequency. Also the Zeno behaviors are excluded. Finally, the theoretical result is verified by the simulation experiments.