Distributed Coordination Control of Networked Lagrangian Systems With Velocity and Input Constraints Over Event-Triggered Communication

In this article, the coordination control problem of networked Euler–Lagrange systems with velocity and input constraints over event-triggered communication is considered. A novel distributed controller is proposed to achieve the control objective under reasonable initial conditions. Unlike existing methods, neither the proposed controller nor the event-triggered scheme relies on any global information of the communication graph. Also, Zeno behavior is proved to be nonexistent. In addition, the constraints on the system velocity and input will not be violated. Finally, case studies and experiment results are provided to show the effectiveness of the proposed method.