Tracking Control for Non-Identical Euler-Lagrange Systems with An Event-triggered Observer

In this technical note, the event-based leader-following control is investigated for a multiple non-identical Euler-Lagrange system with a directed graph. An event-triggered observer is provided to estimate the state of a dynamic leader. To avoid continuous interaction among agents, a broadcasting communication mechanism based on models is utilized. Combining with the event-triggered observer, a distributed adaptive tracking control is presented for multiple lagrangian systems with uncertainties such that all nodes asymptotically follow a virtual leader governed by a linear model. Finally, a simulation with 2-degree-of-freedom manipulators is presented to verify the usefulness of our proposed methods.