This article deals with the leader-following consensus problem of multiple uncertain Euler–Lagrange systems with unknown nonlinear dynamics. By introducing a dynamic compensator for each agent, a fully distributed control strategy is developed based on the fuzzy approximation approach, which is independent of any priori global information associated with the communication topology. Meanwhile, a distributed event-triggering mechanism (ETM) is designed such that each agent broadcasts its states only when an event occurs. It is shown that with the proposed ETM, the leader-following consensus is achieved with aperiodic intermittent communication and Zeno behavior is excluded by contradiction. Moreover, the consensus tracking errors converge to small sets around the origin. Finally, an example is provided to illustrate the effectiveness of the obtained theoretical results.

中文翻译：

---

基于全分布式事件触发自适应模糊控制的多个不确定欧拉格列系统的领导者跟随共识


本文讨论具有未知非线性动力学的多个不确定欧拉-拉格朗日系统的领导者跟随共识问题。通过为每个代理引入动态补偿器，基于模糊逼近方法开发了完全分布式控制策略，该策略独立于与通信拓扑相关的任何先验全局信息。同时，设计了分布式事件触发机制（ETM），使得每个代理仅在事件发生时广播其状态。结果表明，通过所提出的 ETM，领导者跟随共识是通过非周期性间歇性通信实现的，并且 Zeno 行为被矛盾排除。此外，共识跟踪误差收敛到原点周围的小集合。最后通过算例说明所得理论结果的有效性。