Distributed robust tracking control for multiple Euler-Lagrange systems with full-state constraints and input saturation using an event-triggered scheme

In this article, distributed tracking control is studied for multiple Euler-Lagrange systems in the presence of external disturbances and input saturation. Specifically, full-state constraints, input saturation, communication delays, and unmeasured velocities are all considered simultaneously. First, a novel event-triggered scheme is developed to save the communication source and reduce computational load. Second, the anti-saturation compensation algorithm is exploited to compensate for system saturation. Third, an adaptive law is designed to offset external disturbances. Moreover, a high-gain observer is employed to estimate unmeasured velocities. Theorem analysis shows the stability of the closed-loop system, and numerical simulations are provided to verify the effectiveness of the proposed control strategy.

Automated summary

This article investigates distributed tracking control for multiple Euler-Lagrange systems in the presence of external disturbances and input saturation. Various challenges such as full-state constraints, communication delays, and unmeasured velocities are addressed with novel solutions including an event-triggered scheme, anti-saturation compensation algorithm, adaptive law for external disturbances, and high-gain observer for unmeasured velocities. The stability of the closed-loop system is proven through theorem analysis and the effectiveness of the control strategy is verified through numerical simulations.