Distributed Event-Triggered Consensus Control for Networked Euler-Lagrange Systems Subject to External Disturbances

Focused on the networked Euler-Lagrange (EL) systems suffering from external disturbances, this study investigates the consensus problem under event-triggered strategies. In this study, a delicate-designed auxiliary variable is introduced, which allows to reduce the system order so as to simplify the controller design. As thus, based on the reduced-order systems, a novel event-triggered consensus (ETC) control protocol is investigated such that the consensus among agents can be achieved in a distributed way with communication resource saved. To further improve the triggering performance, a mixed threshold with state-dependent term and state-independent term is designed based on only local information. Under the proposed ETC control protocol, consensus among EL systems can be achieved in a distributed way with communication overheads reduced. Furthermore, the feasibility of the proposed ETC protocol is ensured by guaranteing the Zeno-freeness. Finally, numerical simulations are shown to illustrate the effectiveness.