Adaptive time‐varying formation control of uncertain Euler–Lagrange systems with event‐triggered communication
Jiang Long, Wei Wang, Kexin Liu, Jiangshuai Huang
Abstract
Abstract This article is concerned with time‐varying formation control of networked Euler–Lagrange systems in the presence of unknown system parameters and event‐triggered communication. Under a directed graph condition, a novel distributed adaptive formation control scheme is proposed. In order to reduce the communication burden among connected agents, a dynamic triggering condition is designed without the need of continuous monitoring of neighboring states. Zeno behavior that may exist in each agent can be rigorously excluded by introducing a dynamic variable into the triggering condition. It is shown that with the proposed control scheme, all the closed‐loop signals are uniformly bounded and all the agents' generalized coordinates can form a time‐varying formation configuration. The effectiveness of the proposed control scheme is validated with simulation results.