Event-triggered formation-containment control for multiple Euler-Lagrange systems with input saturation
Jiajun Zhao, Yifan Wang, Qiangde Wang · Journal of the Chinese Institute of Engineers · 2022
In this paper, the event-triggered formation-containment control of multiple Euler-Lagrange systems over directed networks is addressed. First, an auxiliary system is introduced for each agent to make its relative position and velocity converge to zero, allowing the measurement of velocity errors between adjacent agents to be avoided. To solve the problem of input saturation in the system, the formation-containment control algorithm is designed for leaders and followers. The control algorithm ensures that the saturation boundary of the control input is limited and has no link to the adjacent agents. Because of an event-triggered mechanism, the system will not update countless times and will eliminate unexpected Zeno behaviors; thus, the utilization rate of all the resources is improved. Finally, the validity of the proposed algorithm is verified by simulation experiments.