Distributed Dynamic Event-Triggered Control for Euler–Lagrange Multiagent Systems With Parametric Uncertainties

This article investigates the distributed dynamic event-triggered control of networked Euler-Lagrange systems with unknown parameters. Using the designed dynamic event-triggered control algorithm, the leaderless consensus problem and the containment problem of networked Euler-Lagrange systems are solved, and the estimations of unknown parameters are updated by an adaptive updating law as well. The stability analysis is given based on an appropriate Lyapunov function and the distributed control problem is theoretically solved by the designed control algorithm. The Zeno behavior of the designed dynamic event-triggered method is excluded in a finite-time interval. Compared to some existing results for the event-triggered control of networked Euler-Lagrange systems, these event-triggered methods can be seen as the special cases of the dynamic event-triggered method proposed in this article. Simulation results based on UR5 robots of V-rep show that the proposed method can provide an increase (4.46 ± 3.36%) of the average lengths of event intervals compared to the one of the existing event-triggered methods, which leads to a lower usage of the communication resource. Meanwhile, the time of achieving the consensus/containment and the steady-state control performance are not affected.