Adaptive Containment Control for Multiple Euler-Lagrange Systems with Dynamic Event-Triggered Mechanism Under Limited Communication Bandwidth
Abstract: In this work, we address the issue of containment control for a class of multiple Euler-Lagrange (EL) systems under the constraint of limited communication bandwidth. Initially, we design a dynamic event-triggered mechanism to mitigate the communication bandwidth limitations. Furthermore, a distributed filter is devised to overcome the non-differentiability problem of event-triggered signals and is incorporated into each step of the backstepping method. Consequently, a novel adaptive containment control scheme is developed, which efficiently conserves communication bandwidth. Notably, the proposed control structure not only ensures that all containment errors converge within a predefined small region around the equilibrium point, but also guarantees that all signals in the closed-loop system are bounded. Finally, the advantages and superiority of the proposed control framework are theoretically confirmed and practically demonstrated through a representative example.
Submission Number: 231
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