Fixed-Time Event-Triggered Control of Nonholonomic Mobile Robots with Uncertain Dynamics and Preassigned Transient Performance

Abstract

In this paper, a novel adaptive control scheme is proposed for the path-following problem of a nonholonomic mobile robot with uncertain dynamics based on barrier functions. To optimize communication resources, we integrate an event-triggered mechanism that avoids Zeno behavior and ensures that the tracking error of the closed-loop system converges to a small neighborhood around zero within a fixed time, while consistently satisfying predefined transient performance requirements. Extensive simulation studies demonstrate the effectiveness of the proposed approach and validate the theoretical results.

Keywords

• adaptive fixed-time control
• nonlinear systems
• nonholonomic mobile robots
• asymmetric constraints