Distributed Event-Triggered Flocking Control of Lagrangian Systems

In this letter, an event-triggered control protocol is developed to investigate flocking control of Lagrangian systems, where event-triggering conditions are proposed to determine when the velocities of the agents are transmitted to their neighbors. In particular, the proposed controller is distributed, since it only depends on the available information of each agent on their own reference frame. In addition, we derive sufficient conditions to avoid Zeno behavior. Numerical simulations are provided to show the effectiveness of the proposed control law.