How to efficiently collect multi-dimensional information of traffic accidents with high dangers has triggered intensive concerns in intelligent transportation community. This paper provides a viable and continuous observation solution using low-budgeted mobile robots. At the kinematic level, a relative position estimator utilizing available distance data is constructed with an exponential error convergence, removing the dependency of using global position. To proceed, resorting to estimation results, an elliptical encircling guidance rule with a time-varying radius is established to preserve circumnavigation concerning targets. At the kinetic level, a new fuel-saving uncertainty mitigation scheme, i.e., event-triggered unknown system dynamics estimators (ETUSDEs) with the feature of a reduced transmission load and a concise structure are respectively developed in velocity and angular rate subsystems to reconstruct uncertainties with a prescribed decaying rate, where event-triggering conditions are enforced to schedule updating frequency of actuators and measurements in an aperiodic manner instead of a fixed time interval. Then, an event-triggered robust kinetic control protocol is synthesized to achieve an accurate command tracking without incurring Zeno behaviors. Finally, the convergence of entire system is illustrated through input-to-state stable (ISS) criterion. Simulation results are delivered to testify the effectiveness of proposed method.
Distance-Based Elliptical Circumnavigation Control for Non-Holonomic Robots With Event-Triggered Unknown System Dynamics Estimators
IEEE Transactions on Intelligent Transportation Systems ; 24 , 4 ; 3986-3998
2023-04-01
2237404 byte
Article (Journal)
Electronic Resource
English
Distributed event-triggered control for collective target localization and circumnavigation
BASE | 2017
|Circumnavigation Control of Fixed-Wing UAVs Using Distance Measurements
Springer Verlag | 2023
|Elliptical trajectories for non-holonomic vehicles
IEEE | 2007
|Elliptical trajectories for non-holonomic vehicles
British Library Conference Proceedings | 2007
|