Fully Event-Triggered Practical Leader–Following Consensus of Multiple Euler–Lagrange Systems Over Switching Networks

In this article, a fully event-triggered adaptive distributed control law is developed for solving the practical leader-following consensus problem (LFCP) of a group of uncertain Euler-Lagrange (EL) systems. An event-triggered output-based distributed observer (OBDO) is established first to estimate the state variable of the leader system over jointly connected switching networks (JCSNs). Then, the event-triggered adaptive control law is designed to exclude the Zeno phenomenon and to make the steady-state consensus error smaller than any specified value by adjusting some design parameters. Compared with the existing results, the proposed event-triggered control law only depends on the output of the leader system, works over JCSNs, and, moreover, is fully event-triggered so that it can be directly implemented in a digital platform. The overall design is illustrated using a group of two-link manipulators.