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

In this article, a fully distributed event-triggered protocol is proposed to solve the consensus problem of uncertain Euler–Lagrange (EL) multiagent systems (MASs) under jointly connected digraphs. First, distributed event-based reference generators are proposed to generate continuously differentiable reference signals via event-based communication under jointly connected digraphs. Unlike some existing works, only the states of agents rather than virtual internal reference variables need to be transmitted among agents. Second, adaptive controllers are exploited based on the reference generators so that each agent can track the reference signals. The uncertain parameters converge to their real values under an initially exciting (IE) assumption. It is proved that the uncertain EL MAS achieves state consensus asymptotically under the proposed event-triggered protocol composed of the reference generators and the adaptive controllers. A unique feature of the proposed event-triggered protocol is its fully distributed property: the protocol does not depend on global information about the jointly connected digraphs. Meanwhile, a minimum interevent time (MIET) is guaranteed. Finally, two simulations are conducted to show the validity of the proposed protocol.