Event-triggered consensus for Euler-Lagrange systems with communication delay

Distributed cooperative control of multi-agent systems, typically requires some form of information exchange in order to achieve coordination between individual agents. Especially in wireless communication systems, communication delays can lead to instability and can not be neglected during the design of the control law. We propose a novel coordination scheme for Euler-Lagrange systems taking into account constant communication delays. Additionally, in order to save limited resources, we propose an event-triggered strategy for the communication between agents, as well as for the local actuator updates of the individual agents. We show that with the proposed algorithms a stable interaction in consensus tasks can be guaranteed. Simulations illustrate the theoretical results.