Distributed Adaptive Consensus Control for Euler-Lagrange Systems with Unknown Parameters and Event-Triggered Communication
摘要
In this paper, a distributed adaptive consensus control scheme is proposed for a class of Euler-Lagrange systems with unknown parameters. The communication among subsystems is described by a digraph. To reduce the consumption of communication energies, an event-triggered communication mechanism is proposed. Then, by adopting adaptive backstepping technique, a distributed adaptive controller is provided, which guarantees that the consensus errors are uniformly bounded.