Distributed Dynamic Event-triggered Consensus Control for Multiple Euler-Lagrange Systems under Digraphs

In this paper, the distributed consensus control of multiple Euler-Lagrange dynamics under digraphs via the dynamic event-triggering mechanism is studied. By designing the upper-level reference model and introducing an auxiliary variable, a novel distributed dynamic event-triggered consensus control protocol is proposed, which allows to separate neighboring information interaction from local dynamics control and thus simplifies the design process. Owing to this treatment, consensus of agents can be reached without continuous state transmission and Zeno behavior. Finally, numerical simulation is given to illustrate the effectiveness of theoretical results. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-ND License (http://creativecommons.org/licenses/by-nc-nd/4.0/)