Abstract In this paper, we study the event-triggered control problem for a kind of nonlinear time-varying system. Generally speaking we use the Lyapunov stability theory to solve an event-triggered tracking control problem of non-holonomic mobile robots. Firstly, we propose a continuous tracking control law using nonlinear state feedback. Under some proper assumptions, we use the linearization technique to prove the exponential stability of the tracking system. Then, we propose an event-triggered controller for the robot and prove the uniform boundedness of the solutions by using the Gronwall–Bellman inequality. Moreover, it is shown that the solutions are uniformly ultimately bounded and there is no Zeno behavior in the tracking system. Simulation studies show the effectiveness of the proposed approach.

中文翻译：

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基于事件的非完整移动机器人跟踪控制

摘要 本文研究了一类非线性时变系统的事件触发控制问题。一般而言，我们使用Lyapunov稳定性理论来解决非完整移动机器人的事件触发跟踪控制问题。首先，我们提出了一种使用非线性状态反馈的连续跟踪控制律。在一些适当的假设下，我们使用线性化技术来证明跟踪系统的指数稳定性。然后，我们为机器人提出了一个事件触发控制器，并通过使用 Gronwall-Bellman 不等式证明了解的一致有界性。此外，结果表明，解决方案是一致最终有界的，并且跟踪系统中没有 Zeno 行为。仿真研究表明了所提出方法的有效性。