Dynamic event-triggered finite-time control for multiple Euler-Lagrange systems using integral terminal sliding mode

The tracking control for multiple Euler-Lagrange systems with external disturbances in finite time under undirected topology is investigated in this paper. A dynamic model is established for the multi-EL systems to accurately describe the general mechanical system. Furthermore, an integral terminal sliding mode surface is devised to converge the tracking errors of the system state to a neighborhood of zero within finite time, and the designed finite-time controller ensures fast convergence and high steady-state accuracy. To reduce the controller update frequency and network transmission communication load, a dynamic event-triggered mechanism is introduced between the sensor and controller, and no Zeno behavior was observed. Therefore, the Lyapunov stability theory and finite-time stability criterion prove that all signals in the closed-loop system are uniformly ultimately bounded in finite time. Finally, the simulation results verified the effectiveness of the proposed control method.