Asynchronous Event-Trigger Consensus of Leaderless Homogeneous Nonlinear Networked Lagrangian Systems

This paper studies the asynchronous event-trigger control of networked Lagrangian system collaboration. The main control goal is to make the velocity and position status of each subsystem converge. In this paper, the non-linearity existing in the actual system, the limitation of communication and computing resources are considered. It is difficult for general algorithms to meet the requirements of general distributed algorithms with continuous update actions. Therefore, this paper introduces the event-trigger mechanism with asynchronous update rules into the distributed control problem of the second-order nonlinear networked Euler-Lagrange system. Aiming at the strongly connected Lagrange network, an event-triggered distributed control algorithm is proposed, and a suitable Lyapunov function is selected to prove its stability. It is shown that based on the proposed algorithm, all agents can achieve consensus. Finally, the theoretical results are verified by numerical simulation.