Distributed Robust Tracking Control for Multiple Euler–lagrange Systems With Full-state Constraints and Input Saturation via Event-triggered Control

Abstract In this paper, the issue of distributed tracking control is studied for multiple Euler–Lagrange systems in presence of external disturbances and input saturation. Specifically, the full-state constraints, input saturation, communication delay, and unmeasured velocity are also considered simultaneously. Firstly, an adaptive distributed state observer is introduced to obtain the leader's time-varying position information, at the same time, a delay function is employed to compensate the communication delay. Moreover, the event-triggered control scheme is developed to reduce communication source and computation load, and the anti-saturation compensation algorithm is exploited to compensate for the influence of system saturation. Thirdly, an adaptive law is designed to offset external disturbances. What’s more, the high-gain observer is used to estimate the unmeasured velocities. Theorem analysis shows that the system errors can converge to zero. Finally, numerical simulations are present to verify the effectiveness of the proposed control strategy.