This paper proposes an event-triggered polynomial control method for trajectory tracking by unicycle robots. In this method, each control input between two consecutive events is a polynomial and its coefficients are chosen to minimize the error in approximating a continuous-time control signal. We design an event-triggering rule that guarantees uniform ultimate boundedness of the tracking error and non-Zeno behavior of inter-event times. We illustrate our results through a suite of numerical simulations and experiments, which indicate that the number of events generated by the proposed controller is significantly less compared to that by a time-triggered controller or a event-triggered controller based on zero-order hold while guaranteeing similar tracking performance.
@article{arxiv.2308.15834,
title = {Event-Triggered Polynomial Control for Trajectory Tracking by Unicycle Robots},
author = {Harini V and Anusree Rajan and Bharadwaj Amrutur and Pavankumar Tallapragada},
journal= {arXiv preprint arXiv:2308.15834},
year = {2025}
}