Consensus for multiple Euler-Lagrange dynamics with arbitrary sampling periods and event-triggered strategy

This paper investigates the consensus problem of multi-agent systems with Euler-Lagrange dynamics, under uniform sampling and arbitrary nonuniform sampling schemes, respectively. Firstly, we propose a protocol using both position and velocity information, and study the consensus conditions. Then we extend the results to the case of applying the event-triggered strategy, and analyze the corresponding consensus property. Simulation examples and comparisons verify the effectiveness of the proposed methods.