Dynamic event-triggered control for networked Euler-Lagrange systems

In this paper, we propose a dynamic event-triggered control strategy to address the coordination problem of networked Euler-Lagrange (E-L) systems. With the proposed dynamic event-triggering mechanism, the state of each subsystem is transmitted at event instants that are aperiodic and asynchronous with respect to other subsystems. Compared with the existing event-triggered control, the dynamic event-triggering mechanism has two features: 1) each subsystem only depends on its own state information at event-detecting instants, which can reduce sensing and communication resources; 2) the introduction of dynamic variables in event-triggered conditions is to avoid the Zeno behavior and enlarge inter-event intervals. The effectiveness of the proposed event-triggered control has been verified by a simulation on a network of E-L systems moving in the horizontal plane.