Robust event-triggered cooperative control of uncertain multiple Euler–Lagrange systems based on three kinds of random transformation topologies

Abstract

In this paper, we consider the consensus of uncertain multiple Euler–Lagrange​ systems. Based on switching topologies, the time-varying delay compensation, event-triggered mechanism, and finite-time convergence are considered, which can satisfy the needs of an actual system. First, the nonlinear uncertainties of the system are well approximated by applying the neural-networked scheme. Second, the new event-triggered mechanism can avoid the influence of the limited signal bandwidth and effectively decrease the data transmission times. Third, an adaptive law is used to compensate for the model and external disturbances. Fourth, the proposed switching topology scheme can respond to different scenarios, including when some agents fail to suddenly connect with their neighbors, and meet a wider range of collaborative needs. The effectiveness and feasibility of the proposed technique are demonstrated in theorem analysis and simulations.