Aranda Escolástico, ErnestoColombo, LeonardoGuinaldo Losada, María2024-10-042024-10-042021E. Aranda-Escolástico, L.J. Colombo, M. Guinaldo, Periodic event-triggered targeted shape control of Lagrangian systems with discrete-time delays, ISA Transactions, Volume 117, 2021, Pages 139-149, ISSN 0019-0578, https://doi.org/10.1016/j.isatra.2021.01.048.0019-0578https://doi.org/10.1016/j.isatra.2021.01.048https://hdl.handle.net/20.500.14468/23910The registered version of this article, first published in “ISA Transactions 117, 139-149", is available online at the publisher's website: Elsevier, https://doi.org/10.1016/j.isatra.2021.01.048 La versión registrada de este artículo, publicado por primera vez en “ISA Transactions 117, 139-149", está disponible en línea en el sitio web del editor: Elsevier, https://doi.org/10.1016/j.isatra.2021.01.048We study the problem of periodic event-triggered targeted formation control for multi-agent Lagrangian systems. We assume that the equations of motion of each agent are derived from a Lagrangian function. Besides, each agent has information about a predefined convex set as a targeted set. The goal of the agents is to achieve the desired formation in the targeted sets, while the information is asynchronously shared by a periodic event-triggering specification, and there is also a time-delay in their communication. A novel distributed control law is proposed for the agents to reach the goal while their velocities are driven to zero. Applications and simulations are provided to validate the theoretical results.eninfo:eu-repo/semantics/openAccess33 Ciencias Tecnológicasartículoevent-triggered controlshape controlmulti-agent systemslagrangian systems