Synchronization of Euler-Lagrangian networks: a periodic intermittent dynamic event-triggered control strategy

In this paper, the synchronization problem of Euler–Lagrange networks is studied by designing periodic intermittent dynamic event-triggered control strategy. The synchronization of all agents is successfully realized by injecting negative comments into the discontinuous interval of the agents described by the Euler–Lagrange systems. Different from the traditional intermittent event-triggered control strategy, the control strategy proposed in this study introduces internal dynamic variables to expand the sampling interval of the event-triggered mechanism, thereby improving resource utilization efficiency. In addition, the event trigger instants of each agent are asynchronous. By using graph theory and Lyapunov method, the synchronization criteria of Euler–Lagrange networks are derived. The effectiveness of the proposed control scheme is verified by simulations for the Euler-Lagrangian network composed of six two-link rotating manipulators.