Event-Triggered Consensus of Multiple Uncertain Euler–Lagrange Systems With Limited Communication Range
针对通信距离有限导致拓扑时变的多智能体系统，提出一种混合事件触发控制协议，在保持初始连接的同时节省通信资源，并排除Zeno行为。
In this article, a hybrid event-triggered control protocol is proposed to solve the consensus problem for a class of multiple uncertain Euler–Lagrange systems with limited communication range. The limited communication range will cause the system topology to be time varying. A novel connectivity-preserving mechanism based on the potential function is designed to guarantee the connectivity of initial edges. Then, we introduce an event triggering mechanism to save communication resources. It is noted that connectivity-preserving control often requires continuous communication as the system states needs to be monitored in real time to ensure that the connection will not be destroyed. Thus, it is difficult to combine event-triggered control with connectivity-preserving control. In this article, we design a novel event-triggered hybrid condition without the real-time neighbors’ information and we exclude Zeno behavior. Finally, a numerical example is given to verify the effectiveness of the protocol.