Zeno-free analysis for non-holonomic mobile robots tracking based on event-triggered mechanism

In this paper, the Zeno-free analysis for non-holonomic mobile robots tracking using event-triggered mechanism is investigated. We provide event-triggered algorithms for the actuation signals of the robot. A suitable Lyapunov function is selected to prove the stability. The event conditions are designed for controlling inputs updates. Moreover, It is proved that the Zeno behavior of the system is excluded. Finally, the algorithm is validated by simulation examples.