Event-Based Fixed-Time Consensus Tracking for Constrained Networked Euler–Lagrange Systems

This article delves into the challenge of fixed-time consensus tracking (FtCT) for networked Euler–Lagrange systems with customized time constraints (CTCs), especially in the presence of restricted communication and computational capabilities. In the face of intermittent and unidirectional communication scenarios, an event-based distributed fixed-time observer is designed, specifically ensuring the exclusion of Zeno phenomena in the analysis. Following this, to economize on the frequency of control input updates, an adaptive event-triggered local control approach rooted in backstepping techniques is put forward, which guarantees practical fixed-time convergence of error signals while precluding Zeno behavior. A key innovation lies in the formulation of a constrained function featuring a shift function, thereby affording a unified framework capable of flexibly addressing CTC without altering the control structure. Simulations are ultimately executed to corroborate the proposed approaches.