Dynamic Event-Triggered Super-Twisting Strategy for Nonholonomic WMR Tracking Task

This paper studies the tracking control of a nonholonomic wheeled mobile robot in the networked scenario, where the controller is placed remotely through a wireless network. We propose an event-triggered super-twisting sliding mode algorithm for fulfilling the tracking performance and reducing the communication burden. A new dynamic event triggering condition is designed to manage the communication instants. We prove that the proposed approach not only mitigates the chattering phenomenon but also accelerates the convergence speed in reaching phase by integrating a linear term with an integral term. The event-triggered communication for refreshing the controller’s information can be managed by imposing constraints on both the sliding mode variable and the system errors in the triggering condition. Finally, the simulation and experiment results are provided to verify the effectiveness of the proposed method and to explore the relationships among controller’s updating frequency, network latency, and control performance.