Distributed Event-Triggered Consensus for Nonlinear Networked Robotic Systems over an Uncertain Network

Abstract

Since each robot communicates with each other though a wireless network with limited width and uncertainties, it is significant and necessary to propose a robust consensus control strategy which can also save bandwidth resources. In this paper, we concern on the event-triggered consensus control problem of networked robotic systems modeled by Euler-Lagrange systems over an uncertain network. The contributions of this paper are twofold: First, the uncertain directed network is considered which modeled by an uncertain part in edge weight. Several communication constraints can be covered by this configuration. Second, an event-triggered consensus protocol is proposed for the nonlinear robotic systems, which can greatly save bandwidth resources. Under the proposed control approach, Zeno behavior is proved to be avoided. Finally, some simulation results are presented to verify the effectiveness of the proposed control strategy.