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Distributed Dynamic Event-Triggered Control for Euler-Lagrange Multiagent Systems With Parametric Uncertainties.

Ran Cao, Long Cheng

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    This summary is machine-generated.

    This study introduces a dynamic event-triggered control for networked Euler-Lagrange systems, improving communication efficiency. The method solves consensus and containment problems while excluding Zeno behavior and estimating unknown parameters.

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    Area of Science:

    • Control Systems Engineering
    • Robotics
    • Networked Systems

    Background:

    • Networked Euler-Lagrange systems present challenges in distributed control due to unknown parameters and communication constraints.
    • Achieving consensus and containment in these systems requires robust control strategies that minimize communication load.

    Purpose of the Study:

    • To develop a distributed dynamic event-triggered control algorithm for networked Euler-Lagrange systems with unknown parameters.
    • To solve leaderless consensus and containment problems while ensuring system stability and excluding Zeno behavior.
    • To improve communication resource utilization compared to existing event-triggered methods.

    Main Methods:

    • A novel dynamic event-triggered control algorithm is designed.
    • Adaptive updating laws are employed for parameter estimation.
    • Lyapunov functions are utilized for stability analysis.
    • The proposed method is validated using simulations on UR5 robots.

    Main Results:

    • The designed algorithm successfully addresses leaderless consensus and containment problems.
    • Parameter estimations are effectively updated.
    • Zeno behavior is excluded within a finite time.
    • The dynamic event-triggered method demonstrates a significant increase in average event interval lengths (4.46 ± 3.36%), reducing communication resource usage.
    • Consensus/containment achievement time and steady-state control performance remain unaffected.

    Conclusions:

    • The proposed distributed dynamic event-triggered control is effective for networked Euler-Lagrange systems.
    • This approach offers enhanced communication efficiency without compromising control performance.
    • The method provides a more general framework than previous event-triggered control techniques.