The invention provides a moving
robot trajectory tracking control method based on
event trigger. The moving
robot trajectory tracking control method includes the steps that (1) a motion equation of amoving
robot and a
dynamic equation of a reference robot are established, and a
dynamic equation of tracking errors is obtained by introducing an error coordinate
system; (2) control input is designedand a state measurement error of control input is given; (3)
event trigger conditions are designed to stabilize an error dynamic
system, and the moving robot can track the trajectory of the referencerobot; (4) the
event trigger conditions in the step (3) are calculated, if the event trigger conditions are met, an event is triggered, and the controller state is updated; and otherwise, updating isnot conducted; and (5), the step (2) is returned. The moving
robot trajectory tracking control method based on event trigger has the advantages that an event trigger mechanism is added to
system control input, asymptotic stability of a system is ensured, thus the robot can track the given reference
robot trajectory, the number of sampling in system control is reduced,
resource consumption is reduced, and the
utilization rate is increased.