Leader-Following Consensus of Multiple Uncertain Euler–Lagrange Systems via Fully Distributed Event-Triggered Adaptive Fuzzy Control
针对多个不确定欧拉-拉格朗日系统，提出一种无需全局通信拓扑信息的全分布式事件触发自适应模糊控制策略，实现领导跟随一致性并避免Zeno行为。
This article deals with the leader-following consensus problem of multiple uncertain Euler-Lagrange systems with unknown nonlinear dynamics. By introducing a dynamic compensator for each agent, a fully distributed control strategy is developed based on the fuzzy approximation approach, which is independent of any priori global information associated with the communication topology. Meanwhile, a distributed event-triggering mechanism (ETM) is designed such that each agent broadcasts its states only when an event occurs. It is shown that with the proposed ETM, the leader-following consensus is achieved with aperiodic intermittent communication and Zeno behavior is excluded by contradiction. Moreover, the consensus tracking errors converge to small sets around the origin. Finally, an example is provided to illustrate the effectiveness of the obtained theoretical results.