6. Experimental validation

Before moving on to the conclusions, this section presents experimental results of an event-triggered control law for the trajectory tracking of a mobile robot.

6.1 Objective

The aim is to automatically control a mobile robot via a wireless network so that it follows a desired trajectory. The robot dynamics is represented by the model below, for $i \in I$ :

\begin{array}{l} {\overset{\cdot}{x}}_{1} (t) = u_{1} (t_{i}) cos (x_{3} (t)) \end{array}

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Bibliography

(1) - ABDELRAHIM (M.) et al - Robust event-triggered output feedback controllers for nonlinear systems. - Automatica 75, p. 96-108 (2017).
(2) - DOLK (V.S.), BORGERS (D.P.), HEEMELS (W.P.M.H.) - Output-based and decentralized dynamic event-triggered control...

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