Event-triggered control for bipartite consensus and formation of multiple wheeled mobile robots with non-holonomic constraint

This paper studies the event-triggered control scheme to tackle the position centroid bipartite consensus/formation problems of multiple wheeled mobile robots with non-holonomic constraint. Based on a reversible input conversion, the dynamics of the reference positions of robots are described as two teams of first-order integrators. The event-triggered control input and the event-triggering condition are constructed, ensuring that the position of each robot converges to the initial bipartite centroid location while their orientations and velocities reach some constants and zero, respectively. Moreover, we exclude the possibility of Zeno behavior. Subsequently, the proposed event-triggered control mechanism is expanded to drive all robots to meet at the expected geometric pattern centred at the initial bipartite centroid. At last, simulations are given to validate the effectiveness of the provided theoretical strategy.