  This paper proposes an event-triggered polynomial control method for
trajectory tracking of unicycle robots. In this control method, each control
input signal between two consecutive events is a polynomial. At each event, the
coefficients of the polynomial control input are chosen to minimize the error
in approximating a continuous-time control signal. We design an
event-triggering rule that guarantees uniform ultimate boundedness of the
tracking error. We ensure the absence of zeno behavior by showing the existence
of a uniform positive lower bound on the inter-event times. We illustrate our
results through numerical simulations and experiments. We show that the number
of events generated by the proposed controller is significantly less compared
to a time-triggered controller and an event-triggered controller based on
zero-order hold, while guaranteeing similar tracking performance.
