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• By comprehensively taking into account the currently detailed system characteristics and behaviors of more generally nonlinear networked Euler-Lagrange systems with uncertainties and disturbances, this paper develops corresponding event-triggered control algorithms for tackling single- and multi-synchronization control problems to alleviate execution burden, where the categorization of synchronization control problems can further promote the behavior research of systems in a solid manner. • The developed event-triggered control algorithms relax the restrictive requirement of relative velocity information, which can not only significantly alleviate the communication and computation burden but also guarantee satisfactory convergence performances. • This paper further investigates the performance comparisons with other control algorithms by conceiving a performance index named trigger rate, i.e., the specific value of average and total trigger numbers. This paper investigates the single- and multi-synchronization control problems of networked Euler-Lagrange systems subject to parameter uncertainties, time-varying disturbances and scarce control resources in a unified framework. Several novel event-triggered control algorithms are developed without requiring relative velocity information, which is capable of significantly mitigating the cost of unnecessary controller updates, signal transmission and computation, while possessing satisfactory control performances. Additionally, based on the Lyapunov stability techniques, the rigorous sufficient criteria for the asymptotic convergence of the synchronization errors are established, and the positive lower bounds of execution intervals are derived to exclude Zeno behaviors. Finally, by further proposing other comparative control algorithms and conceiving a performance index named trigger rate, numerical examples are performed to demonstrate the effectiveness and superiority of the theoretical results. [ABSTRACT FROM AUTHOR]

• This paper studies synchronization of MHRSs with communication delays, kinematic and dynamic uncertainties. • The proposed adaptive sliding-mode controllers can relax the constraints on the interaction topologies. • Sufficient conditions on asymptotic stability of systems are obtained with Lyapunov and input-output stability theories. • Simulations are performed to demonstrate the validity and advantages of the theoretical results. This paper investigates synchronization of multiple heterogeneous robotic systems (MHRSs) in the presence of kinematic uncertainties, dynamic uncertainties and communication delays. We develop two classes of adaptive sliding-mode controllers to deal with the aforementioned problem based on directed graphs containing a directed spanning tree, which relaxes the constraints on the interaction topologies. Furthermore, by invoking techniques of Lyapunov and input-output stability theories, we obtain the sufficient conditions on asymptotic stability of MHRSs. Thus, the position and velocity synchronization errors can asymptotically converge to the origin. Finally, numerous simulations are carried out to demonstrate the validity and advantages of the theoretical results. [ABSTRACT FROM AUTHOR]

This paper studies the formation-containment control for multi-robot systems with two-layer leaders in the presence of parametric uncertainties, input disturbances and directed interaction topologies. To cope with the aforementioned issues, we establish a novel formation-containment control framework, where the analysis of the systems is carried out step by step. A hierarchical controller–estimator (HCE) algorithm, containing distributed sliding-mode estimators in each sub-algorithm, is proposed for the two-layer leaders system. Moreover, by invoking finite-time stable and input-to-state stable theories, the sufficient conditions for convergence of the proposed HCE algorithm are presented. Finally, numerous simulations are performed to demonstrate the validity of the theoretical results. [ABSTRACT FROM AUTHOR]