Consensus Control for Multiple Euler-Lagrange Systems Based on High-Order Disturbance Observer: An Event-Triggered Approach

Abstract

This letter addresses the leader-following consensus problem (LFCP) for multiple Euler-Lagrange (EL) systems with a directed topology. Firstly, a local high-order disturbance observer (HODO) is put forward to estimate the compound disturbance for each EL system itself, and the estimate error can ultimately achieve zero. Based on this HODO, an event-based distributed sliding mode control protocol is proposed to solve the LFCP of multiple EL systems. Furthermore, the reachability of the sliding mode surface is analyzed. Besides, it should be pointed out that the interval between any two triggering instants is a strictly positive value, hence the well-known Zeno behavior is avoided for the developed event-based protocol. Finally, the effectiveness of the proposed HODO and control protocol is further verified by a numerical simulation.