Event-Triggered Bipartite Consensus in Networked Euler–Lagrange Systems With External Disturbance

This brief presents an even-triggered control framework for networked Euler-Lagrange systems to achieve bipartite consensus even in the presence of external disturbance. In particular, an adaptive protocol with simple distributed updating laws is proposed by combining the disturbance compensator technique. The new event-triggered control algorithm is constructed without utilizing velocity information, which mitigates the cost on distributed bipartite consensus protocol design. Additionally, there is no Zeno behaviors by giving the positive lower bounds of execution intervals. Numerical examples are applied in the end to verify the correctness of theoretical results.