Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots Based on Event-Triggered and Time-Varying Functions

In this work, we study the trajectory-tracking control problem of the nonholonomic wheeled mobile robot and propose an event-triggered control method based on the control system, which enables the robot’s motion trajectory to be sufficiently smooth and capable of quickly tracking the desired trajectory, while greatly reducing the update frequency of the system and saving computational resources. Firstly, a unified mathematical model is constructed based on the tracking problem, and a controller based on a time-varying function is selected. This controller enables the robot to obtain a smoother autonomous motion trajectory, and a faster convergence rate, and can achieve desired trajectory tracking well. Then, we propose an event-triggered control method based on this, which can significantly reduce the update frequency without affecting the speed and stability of the system. Finally, it is proved that the system is stable, and the solution of it is uniformly asymptotically stable and ultimately bounded. It is proved that the system does not have Zeno behavior. Simulations verify the feasibility and effectiveness of the proposed method.