Event-Triggered Consensus of Uncertain Euler-Lagrange Multiagent Systems Over Jointly Connected Digraphs.

Area of Science:

• Control Systems Engineering
• Robotics
• Networked Systems

Background:

• Consensus control is crucial for coordinating multiagent systems (MASs).
• Uncertainty in Euler-Lagrange (EL) systems and communication constraints pose significant challenges.
• Existing protocols often require global information or lack efficiency.

Purpose of the Study:

• To propose a fully distributed event-triggered protocol for consensus in uncertain EL MASs.
• To develop event-based reference generators and adaptive controllers for state consensus.
• To ensure asymptotic consensus without relying on global network topology information.

Main Methods:

• Design of distributed event-based reference generators for continuous signal generation.
• Utilization of adaptive controllers for reference signal tracking by each agent.
• Mathematical proof of asymptotic state consensus under jointly connected digraphs and an initially exciting (IE) assumption.

Main Results:

• The proposed protocol achieves asymptotic state consensus for uncertain EL MASs.
• Only agent states are transmitted, reducing communication load compared to virtual variables.
• A minimum interevent time (MIET) is guaranteed, ensuring communication efficiency.
• The protocol's fully distributed nature eliminates the need for global digraph information.

Conclusions:

• The developed event-triggered protocol effectively solves the consensus problem for uncertain EL MASs.
• The protocol is fully distributed, communication-efficient, and guarantees consensus.
• Simulation results validate the protocol's performance and effectiveness.