Dynamic Event-Triggered Predefined-Time Distributed Optimal Consensus for Multiple Euler–Lagrangian Systems With Unavailable Parameters

This article concentrates on how to achieve fast distributed optimization for multiple Euler–Lagrangian (EL) systems with unknown parameters while economizing communication resources. First, to tackle the optimal consensus issue for multiple EL systems with unavailable model parameters, a novel auxiliary system is presented as a reference model that can reach the control objective as well as optimize global cost at the predefined time. Second, a predefined-time tracking controller adopting the time-base generator method is developed to track the auxiliary system. It is a new attempt to introduce a predefined-time convergence mechanism into multiple EL systems with unavailable parameters. Third, a dynamic event triggering mechanism is devised, with triggering thresholds governed by internal dynamic variables. In addition, it effectively eliminates the occurrence of Zeno behavior, thereby illustrating the feasibility of the designed triggering method. Finally, the simulation shows the validity and superiority of the proposed distributed scheme.