NDLI: An event-triggered finite-time control scheme for unicycle robots

Content Provider	IEEE Xplore Digital Library
Author	Hao-Jie Zhang Qiang Lu Xiao-Dan Zhao Ping Wang
Copyright Year	2015
Description	Author affiliation: Sch. of Autom., Hangzhou Dianzi Univ., Hangzhou, China (Hao-Jie Zhang; Qiang Lu; Xiao-Dan Zhao; Ping Wang)
Abstract	This paper is concerned with the event-triggered finite-time control scheme for unicycle robots. First, Lagrange method is used to model the unicycle robot at the roll and pitch axis. Second, on the basis of the established model, an event-triggered finite-time control scheme is proposed to balance the unicycle robot in finite time and to determine whether or not control input should be updated. The control input should be only updated when the triggering condition is violated. As a result, the switching energy of actor can be saved. Third, a stability criterion on unicycle robots with the proposed event-trigged finite-time control scheme is derived by using a Lyapunov method. Finally, the effectiveness of the event-triggered finite-time control scheme is illustrated for unicycle robots.
Sponsorship	IEEE
Starting Page	001037
Ending Page	001042
File Size	236939
Page Count	6
File Format	PDF
e-ISBN	9781479917624
DOI	10.1109/IECON.2015.7392236
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-09
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Mathematical model Mobile robots Wheels Stability analysis Lyapunov methods robot motion Event-triggered scheme finite-time control uni-cycle robots Lagrange method intelligent robots
Content Type	Text
Resource Type	Article

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