Aranda Escolástico, ErnestoColombo, Leonardo J.Guinaldo Losada, María2024-10-072024-10-072021-12-20E. Aranda-Escolástico, L. J. Colombo and M. Guinaldo, "Distributed Event-Triggered Flocking Control of Lagrangian Systems," in IEEE Control Systems Letters, vol. 6, pp. 1946-1951, 2022, doi: 10.1109/LCSYS.2021.3136761.2475-1456https://doi.org/10.1109/LCSYS.2021.3136761https://hdl.handle.net/20.500.14468/23941The registered version of this article, first published in IEEE Control Systems Letters, is available online at the publisher's website: EDITOR, https://doi.org/10.1109/LCSYS.2021.3136761La versión registrada de este artículo, publicado por primera vez en IEEE Control Systems Letters, está disponible en línea en el sitio web del editor: EDITOR, https://doi.org/10.1109/LCSYS.2021.3136761In 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.eninfo:eu-repo/semantics/openAccess33 Ciencias Tecnológicasartículoevent-triggered controlflockingLagrangian systems