Leader-following consensus of multiple uncertain Euler–Lagrange systems under switching network topology

Abstract

In recent years, the leader-following consensus problem for multiple uncertain Euler–Lagrange systems has been studied under some restrictive assumptions on the network topology. In this paper, we further study the same problem under switching network topology. We propose a distributed adaptive control law that can solve the problem under a switching network satisfying jointly connected condition. Under this condition, our results do not require the network to be undirected and allow the network to be disconnected at any time instant. Moreover, by introducing an exosystem to generate various reference signals, our control law can handle a class of reference signals such as sinusoidal signals with arbitrary amplitudes and initial phases or ramp signals with arbitrary slopes.

Keywords:

• leader-following consensus
• multi-agent systems
• Euler–Lagrange systems
• switching network topology

Notes

1 See Appendix for definition of .

2 Also see Appendix for a summary of graph.

This work has been supported in part by the Research Grants Council of the Hong Kong Special Administration Region [grant number 412813], and in part by National Natural Science Foundation of China [grant number 61174049].