Abstract
This chapter studies the event-triggered control problem for nonholonomic systems in the chained form with disturbances and drift uncertain nonlinearities. Both the cases of state-feedback and output-feedback are investigated. To address the effects of nonholonomic constraints in event-triggered control, a new systematic design integrating a state-scaling technique and set-valued maps is proposed. A crucial strategy is to transform the event-triggered control system into an interconnection of multiple input-to-state stable systems, to which the cyclic-small-gain theorem is applied for event-based controller synthesis. It is shown that the cyclic-small-gain based design scheme leads to Zeno-free event-triggered controllers. For the output-feedback case, a new nonlinear observer is designed to deal with the sampling errors. Interestingly, the obtained results are new even if the plant model is disturbance-free. Both numerical and experimental results validate the efficiency of the proposed cyclic-small-gain-based event-triggered control methodology.
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© 2020 Huazhong University of Science and Technology Press, Wuhan and Springer Nature Singapore Pte Ltd.
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Liu, T., Zhang, P., Jiang, ZP. (2020). Event-Triggered Control of Nonholonomic Systems. In: Robust Event-Triggered Control of Nonlinear Systems. Research on Intelligent Manufacturing. Springer, Singapore. https://doi.org/10.1007/978-981-15-5013-3_7
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DOI: https://doi.org/10.1007/978-981-15-5013-3_7
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Publisher Name: Springer, Singapore
Print ISBN: 978-981-15-5012-6
Online ISBN: 978-981-15-5013-3
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