Event-Based Fixed-Time Consensus Tracking for Constrained Networked Euler-Lagrange Systems

This article delves into the challenge of fixed-time consensus tracking (FtCT) for networked Euler-Lagrange systems with customized time constraints (CTCs), especially in the presence of restricted communication and computational capabilities. In the face of intermittent and unidirectional communication scenarios, an event-based distributed fixed-time observer is designed, specifically ensuring the exclusion of Zeno phenomena in the analysis. Following this, to economize on the frequency of control input updates, an adaptive event-triggered local control approach rooted in backstepping techniques is put forward, which guarantees practical fixed-time convergence of error signals while precluding Zeno behavior. A key innovation lies in the formulation of a constrained function featuring a shift function, thereby affording a unified framework capable of flexibly addressing CTC without altering the control structure. Simulations are ultimately executed to corroborate the proposed approaches.