In this paper, the event-triggered stochastic consensus for networked Lagrangian systems with semi-Markov switching topologies and communication delays is considered. An event-triggered sampling control strategy is used to design the distributed stochastic consensus scheme of networked Lagrangian systems for two cases with leader and leaderless. Two delay-dependent consensus criteria are derived in the sense of mean square by use of a suitable Lyapunov-Krasovskii functional and the stochastic delayed Halanay inequality, respectively. A key feature of the developed event-triggered consensus algorithm is to introduce a suitable adjustment parameter on consensus control gains characterizing the effect of both semi-Markov switching topology and communication delay. Finally, a numerical example of four manipulators with two links is presented to illustrate the effectiveness of the developed event-triggered methodology.

本文考虑了具有半马尔可夫切换拓扑和通信时延的网络拉格朗日系统的事件触发随机共识。采用事件触发的采样控制策略，设计了带领导者和无领导者两种情况的网络拉格朗日系统的分布式随机共识方案。分别使用适当的Lyapunov-Krasovskii泛函和随机延迟Halanay不等式，从均方意义上推导了两个依赖于延迟的共识标准。所开发的事件触发共识算法的关键特征是在共识控制增益上引入合适的调整参数，以表征半马尔可夫切换拓扑和通信延迟的影响。最后，