Fully Event-Triggered Practical Leader–Following Consensus of Multiple Euler–Lagrange Systems Over Switching Networks
针对一组不确定欧拉-拉格朗日系统，提出了一种全事件触发的自适应分布式控制律，解决实际领导-跟随一致性问题，适用于联合连通切换网络，并避免芝诺现象。
In this article, a fully event-triggered adaptive distributed control law is developed for solving the practical leader-following consensus problem (LFCP) of a group of uncertain Euler-Lagrange (EL) systems. An event-triggered output-based distributed observer (OBDO) is established first to estimate the state variable of the leader system over jointly connected switching networks (JCSNs). Then, the event-triggered adaptive control law is designed to exclude the Zeno phenomenon and to make the steady-state consensus error smaller than any specified value by adjusting some design parameters. Compared with the existing results, the proposed event-triggered control law only depends on the output of the leader system, works over JCSNs, and, moreover, is fully event-triggered so that it can be directly implemented in a digital platform. The overall design is illustrated using a group of two-link manipulators.