Fully Event-Triggered Practical Leader-Following Consensus of Multiple Euler-Lagrange Systems Over Switching Networks

Area of Science:

• Robotics
• Control Systems Engineering
• Networked Systems

Background:

• Leader-following consensus is crucial for coordinated control of multi-agent systems.
• Uncertainty in Euler-Lagrange systems and communication constraints pose significant challenges.
• Existing methods often require continuous communication or lack full event-triggering.

Purpose of the Study:

• To develop a fully event-triggered adaptive distributed control law for leader-following consensus.
• To address the problem in uncertain Euler-Lagrange systems under jointly connected switching networks.
• To enable practical implementation on digital platforms by minimizing communication.

Main Methods:

• Design of an event-triggered output-based distributed observer (OBDO) for leader state estimation.
• Development of an adaptive control law that is fully event-triggered.
• Analysis to ensure the exclusion of the Zeno phenomenon and bound the steady-state consensus error.
• Demonstration using a group of two-link manipulators.

Main Results:

• A novel fully event-triggered adaptive distributed control law is proposed.
• The control law effectively estimates the leader's state using an OBDO over jointly connected switching networks.
• The Zeno phenomenon is successfully avoided, and consensus errors are minimized.
• The control law's dependency on only the leader's output is a key advantage.

Conclusions:

• The developed control strategy offers an efficient and practical solution for leader-following consensus in uncertain systems.
• The fully event-triggered nature enhances applicability in digital control environments.
• The method provides robustness against system uncertainties and network dynamics.