Dynamic event-triggered formation control of second-order nonholonomic systems  

作　　者：WANG Xiaoyu SUN Sijia XIAO Feng YU Mei 

机构地区：[1]School of Control and Computer Engineering,North China Electric Power University,Beijing 102206,China [2]State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources,North China Electric Power University,Beijing 102206,China

出　　处：《Journal of Systems Engineering and Electronics》2023年第2期501-514,共14页系统工程与电子技术（英文版）

基　　金：supported by the Beijing Natural Science Foundation(4222053).

摘　　要：In this paper,the formation control problem of secondorder nonholonomic mobile robot systems is investigated in a dynamic event-triggered scheme.Event-triggered control protocols combined with persistent excitation(PE)conditions are presented.In event-detecting processes,an inactive time is introduced after each sampling instant,which can ensure a positive minimum sampling interval.To increase the flexibility of the event-triggered scheme,internal dynamic variables are included in event-triggering conditions.Moreover,the dynamic event-triggered scheme plays an important role in increasing the lengths of time intervals between any two consecutive events.In addition,event-triggered control protocols without forward and angular velocities are also presented based on approximate-differentiation(low-pass)filters.The asymptotic convergence results are given based on a nested Matrosov theorem and artificial sampling methods.

关 键 词：nonholonomic system dynamic event-triggered control consensus-based formation 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]