Leaderless Consensus for Multiple Euler-Lagrange Systems with Event-Triggered Communication

In this paper, the problem of consensus for multi agent systems, modeling by Euler-Lagrange equations, is studied with event-triggered communication network. By utilizing a proportional plus damping control scheme, a triggering mechanism is developed so that agents can achieve consensus without continuously exchange their signals. The networked system is demonstrated to be stable with guaranteed consensus performance if the communication topology between agents are undirected and connected. Moreover, a triggering gain is introduced to tune the triggering sensitivity and frequency. The lower bounds of inter-event time for agents are presented so that the Zeno behavior is avoided in the event-triggered control system. The proposed system can reduce network-access-frequency, and stop exchanging output signals when the multi-agent system achieve consensus. Simulations with four Euler-Lagrange agents are illustrated to show the performance and efficiency of the proposed system.