Optimal Threshold Setting for Event-Based Control Strategies

Abstract

In this paper, an event-based control strategy for mobile robots is proposed. The solution includes new features that minimize the effects of the noise on the system. Two methodologies have been developed to compensate the perturbations. To avoid the effects of such perturbations, a threshold calculator and a perturbation estimator are included in the system. The proposed system is compared with classical control systems based on discrete time. Different scenarios are analyzed in the experiments to check its performance. The stability and the improvements of the proposed control strategy are also analyzed in the experimental results.

Keywords

• Mobile robots
• event-based control
• dynamic threshold setting
• navigation algorithm
• perturbation estimation