Event-Triggered Fixed-Time Control for Multiple Euler-Lagrange Systems with Non-Affine Faults

This paper proposes a distributed fixed-time fault-tolerant protocal based on event-triggered scheme for multiple Euler-Lagrange (EL) systems with non-affine faults. Initially, a distributed event-triggered observer is introduced, which estimates the real-time state information of the leader through local communications with neighboring agents. Furthermore, a novel fault-tolerant cooperative control protocol is developed, integrating neural networks and backstepping methods to address the challenges caused by non-affine faults in multiple EL systems.