Observer-Based Path Following Control Method for Mobile Robots with an Event-Triggering Mechanism

This paper investigates a path following control method for mobile robots based on extended state observer (ESO) and event-trigger mechanism. Firstly, by utilizing the Line-of-sight (LOS) method, the path following control problem is rendered as the desired heading angle for the dynamic control layer. A backstepping approach based on ESO is designed to force the heading angle of mobile robots to track the desired value generated by the LOS method regarding model uncertainties and disturbances. An event-triggering mechanism is integrated into the dynamic controller to reduce the communication burden and maintain the durability of the actuators. All signals of the closed-loop control system are proven to be uniformly ultimately bounded through the Lyapunov stability theorem. Finally, a hardware experiment is conducted to demonstrate the effectiveness and feasibility of the proposed method.