Robust arbitrary trajectory tracking of multiple heterogeneous Euler–Lagrange systems under directed graphs: A fully distributed event‐triggered control
Yanhua Yang,
Jie Mei,
Guangfu Ma
Abstract:In this paper, the robust arbitrary trajectory tracking problem of multiple heterogeneous Euler–Lagrange (EL) systems with disturbances under a directed graph is investigated via a novel fully distributed event‐triggered control (ETC) strategy. Firstly, for an arbitrary tracked trajectory, the Fourier transform technique is employed to approximately obtain its linear form, which represents the leader of multiple EL systems. Since the dynamics and state of the leader are not available to all followers, fully di… Show more
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