Sampled Robust Control for Constrained Unicycle Mobile Robots

The aim of this paper is to design a sampled robust controller for the trajectory tracking problem in constrained unicycle mobile robots. The proposed swithched controller is composed by an aperiodic control law and a periodic control law. The aperiodic control consists on an state–feedback–based event–triggered control wich is designed by means of the attractive ellipsoid method and the barrier Lyapunov function. The periodic sampled control part is designed taking into account a maximum sampling time. A safe set where the state constraints are not violated, and a switching set that determines the region where each part of the controller is active are provided. The proposed strategy guarantees the input–to–state stability of the tracking error dynamics with respect to external disturbances. The feasibility of the proposed approach is demonstrated through simulation results.