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Accordingly, the design conditions for the gains of event-triggered dynamic output feedback (DOF) controllers and the parameters of decentralized event-triggering mechanisms (DETMs) are presented. Finally, simulations for verifying the system stability with and without cyber attacks are given.To deal with the coordination problem for multi-manipulator trajectory tracking systems with parametric uncertainties, this paper proposes a two-layer control scheme incorporating a model predictive strategy and an extended state observer. In the k
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