In this paper, an event-triggered control protocol is developed to investigate flocking control of Lagrangian systems, where event-triggering conditions are proposed to determine when the velocities of the agents are transmitted to their neighbours. In particular, the proposed controller is distributed, since it only depends on the available information of each agent on their own reference frame. In addition, we derive sufficient conditions to avoid Zeno behaviour. Numerical simulations are provided to show the effectiveness of the proposed control law.
@article{arxiv.2112.08827,
title = {Distributed event-triggered flocking control of Lagrangian systems},
author = {Ernesto Aranda-Escolástico and Leonardo J. Colombo and María Guinaldo},
journal= {arXiv preprint arXiv:2112.08827},
year = {2022}
}