Leaderless Consensus Fuzzy Control for Uncertain Euler–Lagrange MASs With Digraphs

Euler-Lagrange multi-agent systems (MASs), which are typical IoT systems, have wide applications including autonomous underwater vehicles, mobile robots and robot manipulators. As a crucial aspect of Euler-Lagrange MASs, the consensus becomes a research priority. However, most of the existing works on consensus of Euler-Lagrange MASs are based on the assumption of linearized parameters, and the designed distributed event-triggered (ET) control protocols are only applicable to the leader-following consensus (LFC) of uncertain Euler-Lagrange MASs with undirected graphs. Hence, the Leaderless consensus (LLC) of uncertain Euler-Lagrange MASs with digraphs is studied in this paper. Based on fuzzy logic system (FLS), a fully distributed ET adaptive control protocol is designed, and new theoretical analysis results are proposed in Lemmas 3–5. By the proposed fully distributed ET fuzzy control protocol, the communication resources are effectively saved, and the LLC for uncertain Euler-Lagrange MASs without the assumption of linearized parameters is achieved. In the end, based on networked two-linked robot manipulators, simulations are given to show the validity of the proposed results. In comparison with the method of [28], our method with σi= 0.005 provides 263.48%, 245.87%, 237.15%, 210.46% and 210.72% less information exchange on manipulators 1-5, respectively.