Leader-Following Consensus of Multiple Uncertain Euler-Lagrange Systems via Fully Distributed Event-Triggered...

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.