Event-triggered consensus control for a class of uncertain multiple Euler-Lagrange systems with actuator faults

Abstract

This paper is devoted to the event-triggered consensus control for a class of uncertain multiple Euler-Lagrange (EL) systems with actuator faults. Different from the related works where strict conditions are imposed on system uncertainties and the measurements of the leader's output, more serious uncertainties are involved since all the system dynamic matrices are unknown while both actuator faults and external disturbance are considered; and moreover, fewer measurements of the leader's output are required since its time derivatives are not necessarily available for feedback. Mainly because of these, the consensus problem is hard to solve by straightforwardly extending the existing results. To solve the control problem, a dynamic gain with a smart choice of its updating law is introduced to overcome the serious uncertainties and the sampling error of the control signal. By incorporating the dynamic gain into the vectorial backstepping procedure, an adaptive consensus controller joined with an event-triggered mechanism is designed for each follower to ensure the consensus of the multi-agent system in the sense that all the states of the closed-loop system are bounded while the output of each follower tracks the leader's output. Finally, the effectiveness of the proposed method is verified by a simulation example.