Event-based distributed robust synchronization control for multiple Euler-Lagrange systems without relative velocity measurements

摘要

This paper focuses on the event-based distributed robust leaderless synchronization control for multiple Euler-Lagrange systems with directed communication topology that contains a directed spanning tree. Update frequency of the system is reduced by taking advantages of the event-triggered approach, which can help extend the service life of the controller. Robust control theory is employed to guarantee the synchronization stability of the networked Euler-Lagrange systems when unmodeled dynamics occur. The cost on the distributed synchronization protocol design can be saved due to the relaxation of the requirement on relative velocity measurements. Furthermore, our results are more practical because unknown disturbance is taken into consideration. In addition, it can be rigorously analyzed that each agent can exclude the undesired Zeno behavior. Some simulation examples are provided in the end to demonstrate the effectiveness of the proposed event-based distributed robust control algorithm.