This article studies a fully distributed optimal coordinated control problem with the global cost function for networked Euler-Lagrange (EL) systems subject to unknown model parameters. In particular, the global cost function is the sum of all the local cost functions assigned to each agent and only available to itself. The objective is to minimize the global cost function in a distributed manner while achieving a consensus on its optimal solution. Since the model parameters of the considered EL systems are not available, a new auxiliary system is introduced as a reference model, and its outputs exponentially converge the optimal solution of the global cost function. A fully distributed optimal control algorithm without requiring global information is first proposed. Then, an alternative distributed optimal algorithm via the event-triggered mechanism is proposed to reduce the communication cost. In particular, by combining an edge-based adaptive gain method, the proposed event-triggered optimal algorithm is also fully distributed. Finally, numerical simulation is carried out to validate the theoretical results.

中文翻译：

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多个Euler-Lagrangian系统的完全分布式事件触发最优协调控制。

本文研究具有未知模型参数的网络Euler-Lagrange（EL）系统的具有全局成本函数的完全分布式最优协调控制问题。特别是，全局成本函数是分配给每个代理且仅对自身可用的所有本地成本函数的总和。目标是在实现最佳解决方案共识的同时，以分布式方式最小化全局成本函数。由于所考虑的EL系统的模型参数不可用，因此引入了一个新的辅助系统作为参考模型，并且其输出呈指数形式收敛于全局成本函数的最优解。首先提出了一种不需要全局信息的全分布式最优控制算法。然后，提出了一种通过事件触发机制的分布式最优算法，以降低通信成本。特别地，通过结合基于边缘的自适应增益方法，所提出的事件触发的最优算法也被完全分布。最后，通过数值模拟验证了理论结果。