Synchronization of Euler-Lagrangian networks: a periodic intermittent dynamic event-triggered control strategy

Abstract

In this paper, the synchronization problem of Euler-Lagrange networks is studied by designing periodic intermittent dynamic event-triggered control strategy. The synchronization of all agents is successfully realized by injecting negative comments into the discontinuous interval of the agents described by the Euler-Lagrange systems. Different from the traditional intermittent event-triggered control strategy, the control strategy proposed in this study introduces internal dynamic variables to expand the sampling interval of the event-triggered mechanism, thereby improving resource utilization efficiency. In addition, the event trigger instants of each agent are asynchronous. By using graph theory and Lyapunov method, the synchronization criteria of Euler-Lagrange networks are derived. The effectiveness of the proposed control scheme is verified by simulations for the Euler-Lagrangian network composed of six two-link rotating manipulators.