Event-Triggered Sliding-Mode Control of Two Wheeled Mobile Robot: An Experimental Validation
Krishanu Nath, Asifa Yesmin, Anirban Nanda, Manas Kumar Bera
Abstract
This article presents an event-triggered implementation of sliding-mode control (SMC) to track the desired trajectory by a two-wheeled differential drive mobile robot. Here, a situation is considered where the communication between the remote controller and mobile robot is established via a wireless network and the objective is to achieve a satisfactory tracking performance while reducing the usages of network bandwidth and control computation. The continuous-time SMC law is redesigned in the context of event-based framework and an event condition is proposed, which has a switching structure to avoid the singularity of the control law. The convergence of the tracking error in the sense of practical stability has been guaranteed by the Lyapunov method. To ensure the Zeno-free behavior of the system, the minimum interevent execution time has been proved to be bounded by a positive value. Also, the time delay associated with the communication network is considered while designing the triggering parameter. Finally, the proposed event-triggered sliding-mode controller has been implemented on a benchmark. The performance of the proposed strategy is compared with the classical time-triggered set up in terms of tracking performance, communication burden, and computational load.