In this paper, an event-triggered control protocol is developed to investigate flocking control of Lagrangian systems, where event-triggering conditions are proposed to determine when the velocities of the agents are transmitted to their neighbours. In particular, the proposed controller is distributed, since it only depends on the available information of each agent on their own reference frame. In addition, we derive sufficient conditions to avoid Zeno behaviour. Numerical simulations are provided to show the effectiveness of the proposed control law.

翻译：在本文中,制定了一个事件触发控制协议,以调查拉格朗江系统的群集控制,其中提议了事件触发条件,以确定何时将物剂的速度传送给邻国,特别是,拟议的控制器分布在各地,因为它仅取决于每个物剂在自己的参照框架上的现有资料,此外,我们提出了避免Zeno行为的充分条件,提供了数字模拟,以显示拟议的控制法的有效性。