Research On Event-Triggered Consensus Control Strategy For Distributed Multiple Euler-Lagrange Systems

With the progress and development of science and technology,the cooperative control of multi-agent systems has attracted the attention of many scholars.In cooperative control,consensus is a fundamental research issue.Event-triggered control refers to the control strategy based on the occurrence of an event-based passively to triggere the control behavior.In recent years,more and more scholars study the consensus of multi-agent systems based on event-triggered control.Among them,the event-triggering condition is the key of the event-triggered control strategy,which only communicates with the neighbor agent only when the designed event-triggering condition is violated.The multi-agent system composed of E-L equation can describe the physical systems with practical significance,including mechanical systems,electromechanical systems,power electronic systems,etc.This paper focuses on the consensus control of event-triggering distributed multiple E-L systems,and the main research contents are described as follows:For distributed multiple E-L systems,considering the complexity of the model,an auxiliary variable is designed to get the reduced-model of systems.For the system model after order reduction,a fully distributed control strategy and an edge-based event-triggered consensus control strategy are proposed.The designed event-triggering condition has a decay term.If the model parameters are properly selected,it can greatly reduce the event-triggering frequency during the initial period.In order to further reduce the event-triggering frequency,dynamic variables are introduced and an edge event-triggered consensus control strategy based on dynamic variables is designed.Then,a method of unidirectional information transmission is proposed,and a unidirectional edge event-triggered consensus control strategy based on dynamic variables is designed.An event-triggered control strategy is designed for the E-L systems subject to external disturbances,and a one-way dynamic control strategy is designed based on the sliding mode to deal with the disturbances.Using the Lyapunov stability theory and the LaSalle invariance principle,we show that the multiple E-L systems can achieve asymptotic consensus under the action of the above designed event-triggered control strategy.In addition,the two-link robotic arm systems are used to verify the feasibility of the designed event-triggered control strategy.