Distributed event-triggered control for coupled nonholonomic mobile robots

In this paper, a coordinated tracking problem for coupled nonholonomic mobile robots is considered. An event-triggered control strategy is proposed to guarantee that the robots can form a prespecified geometric pattern while the centroid of the geometric pattern can track a reference signal. The stability of the system is proved with the aid of Lyapunov techniques. Finally, a simulation example is presented to verify the theoretical results.