This paper addresses the consensus problem for a class of multiple Euler-Lagrange systems, where agents communicate with neighbors under an event-triggered mechanism. Due to the more complex dynamical characteristics, the consensus problem of multiple Euler-Lagrange systems is more challenging than that of ordinary second-order multi-agent systems. In this study, we assume that the inertia matrix, the Coriolis and centrifugal term, and the gravitational torque are totally unknown, then a protocol is derived by integrating the Lyapunov functional method, neural network approximation and adaptive control techniques. In addition, the event-triggered mechanism effectively reduces the communication traffic, and the Zeno behavior is well excluded. By a demonstrative example, the effectiveness of the protocol is illustrated.

本文解决了一类多欧拉-拉格朗日系统的共识问题，其中代理在事件触发机制下与邻居进行通信。由于更复杂的动力学特性，多个 Euler-Lagrange 系统的一致性问题比普通二阶多智能体系统的一致性问题更具挑战性。在这项研究中，我们假设惯性矩阵、科里奥利和离心项以及重力扭矩完全未知，然后通过整合李雅普诺夫泛函方法、神经网络逼近和自适应控制技术推导出一个协议。此外，事件触发机制有效减少了通信流量，很好地排除了Zeno行为。通过一个示范性的例子，说明了该协议的有效性。