Event-based tracking of nonholonomic systems in chained form

This paper investigates an event-triggered tracking control problem of nonholonomic systems in chained form. We first design a time-varying controller while ignoring the sampling/triggering. Then, the event-triggered control strategy is considered and a dynamic event trigger is proposed to reduce the information transmission. The solutions of nonholonomic systems in chained form are proved to be uniformly globally asymptotically tracking the desired reference trajectory under some standing assumptions. Our analysis is based on Lyapunov's direct method and an explicit global strict Lyapunov function is constructed. Furthermore, the Zeno behavior is avoided and a positive lower bound between any two triggering instants is ensured. Finally, a simulation example is provided to illustrate our results.