Stabilization of a (3,0) mobile robot by means of an event-triggered control

Villarreal-Cervantes, Miguel Gabriel; Guerrero-Castellanos, J.F.; Ramirez-Martinez, Soledad; Sánchez-Santana, J. Pedro

doi:10.1016/j.isatra.2015.06.013

Cited by 19 publications

(7 citation statements)

References 43 publications

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“…For instance, the authors in [19] adapted the original universal formula introduced by Sontag for nonlinear control affine systems. The relevance of this method was experimentally shown in [30] where the regulation of an omnidirectional mobile robot was addressed.…”

Section: Introductionmentioning

confidence: 99%

Event-Triggered Output Feedback Stabilization via Dynamic High-Gain Scaling

Peralez

Andrieu

Nadri

et al. 2018

IEEE Trans. Automat. Contr.

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Section: Introductionmentioning

confidence: 99%

Event-Triggered Output Feedback Stabilization via Dynamic High-Gain Scaling

Peralez

Andrieu

Nadri

et al. 2018

IEEE Trans. Automat. Contr.

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“…In spite of showing theoretical results of the ETC advantages [52]- [59], few works report experimental results (laboratory testing with real systems) in the framework of robotic manipulators. For instance, ETC has been applied to the stabilization of the underactuated inverted pendulum [60], UAVs [61] and the (3, 0) mobile robot [62]. Also, in all previous works, the theoretical framework is based on a continuous event-triggered sampling scheme without guaranteeing the stability whenever the experimental results are tested on a digital system.…”

Section: Introductionmentioning

confidence: 99%

Periodic Event-Triggered Control for the Stabilization of Robotic Manipulators

et al. 2020

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This paper proposes a periodic event-triggered control (PETC) design applied to nonlinear robotic systems for joint space stabilization. The update of the control signal is based on a predefined triggering mechanism that periodically considers state measurements. So, continuous state measurements required in the continuous event-triggered control (CETC), are no longer needed in this proposal. The main advantages of the proposal are: 1) to assure the convergence of the closed-loop trajectories to a compact ball centered in the origin of the error space, and 2) the relaxation of continuous measurements for the evaluation of the event condition which implies a more suitable design for real-time implementation purposes. Experimental comparative results of the proposed design with a time-triggered control (TTC) scheme show that the PETC can present suitable performance with a significant reduction of 82.20% of the controller updates mainly given in the steady-state of the closed-loop system. This implies a decrement of the computation resources due to information transfer.

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“…In the event-triggered approach, transmission intervals are determined by a predefined condition on the measurements, and energy and network resources are used only if the measurements have to be transmitted. The effectiveness of event-triggered techniques has been illustrated, e.g., through security in networked control systems in [7]- [9] and an experiment of mobile robots in [10], [11], and there are many researches on the analysis and synthesis of eventtriggered control as surveyed in [12], [13].…”

Section: Introductionmentioning

confidence: 99%

Stability and ${\ell }^{2}$ -Gain Analysis of Adaptive Control Systems With Event-Triggered Try-Once-Discard Protocols

Wakaiki

2018

IEEE Control Syst. Lett.

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This paper addresses the stability and 2 -gain analysis of adaptive control systems with event-triggered try-oncediscard protocols. At every sampling time, an event trigger evaluates an error between the current value and the last released value of each measurement and determines whether to transmit the measurements and which measurements to transmit, based on the try-once-discard protocol and given lower and upper thresholds. For gain-scheduling controllers and switching controllers that are adaptive to the maximum error of the measurements, we obtain sufficient conditions for the practical stability and upper bounds on the 2 -gain of the closed-loop system.

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Stabilization of a (3,0) mobile robot by means of an event-triggered control

Cited by 19 publications

References 43 publications

Event-Triggered Output Feedback Stabilization via Dynamic High-Gain Scaling

Event-Triggered Output Feedback Stabilization via Dynamic High-Gain Scaling

Periodic Event-Triggered Control for the Stabilization of Robotic Manipulators

Stability and ${\ell }^{2}$ -Gain Analysis of Adaptive Control Systems With Event-Triggered Try-Once-Discard Protocols

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