Event-Triggered Consensus of Uncertain Euler-Lagrange Multi-Agent Systems on Jointly Connected Digraphs

Ximing Yang

Abstract: This paper presents a fully distributed event-triggered protocol aimed at solving the consensus problem in uncertain Euler-Lagrange (EL) multi-agent systems (MASs) under jointly connected digraphs. Firstly, distributed event-driven reference generators are introduced to generate continuously differentiable reference signals via event-based communication within the jointly connected digraphs. Unlike some existing work, this approach only necessitates the transmission of agent states, without the need for virtual internal reference variables, among agents. Secondly, adaptive controllers are implemented, allowing each agent to track the reference signals. The uncertain parameters are shown to converge to their actual values under the initially exciting (IE) condition. It is established that the uncertain EL MAS achieves asymptotic state consensus using the proposed event-triggered protocol, which includes the reference generators and adaptive controllers. A distinguishing feature of the proposed protocol is its fully distributed characteristic, as it does not require global information about the jointly connected digraphs. Moreover, a minimum inter-event time (MIET) is guaranteed. Lastly, two simulations are carried out to confirm the effectiveness of the proposed protocol.

Submission Number: 206