Periodic event-triggered cooperative control of multiple non-holonomic wheeled mobile robots

This study investigates the periodic event-triggered control for the hand position centroid consensus/formation problems of multiple non-holonomic wheeled mobile robots. By constructing invertible input transformation, the dynamics of the hand positions are formulated as two groups of first-order integrators. Then, the event-triggered control laws and the event conditions are proposed. On the basis of Lyapunov theory and the algebraic graph theory, permissible value ranges of the sampling period and the event condition parameters are established, guaranteeing that all the hand positions asymptotically tend to the common initial centroid location or the desired formation shape centred at the initial centroid. In addition, the orientations and the velocity inputs of each robot are ensured to reach some constants and zeros, respectively. Finally, simulations illustrate the efficiency of the proposed theoretical results.