Adaptive Leader-Following Consensus of Networked Uncertain Euler-Lagrange Systems With Dynamic Leader Based on Sensory Feedback

摘要

In this paper, the leader-following consensus problem of multiple uncertain Euler-Lagrange systems is studied by developing a new adaptive distributed control law based on sensory feedback. In comparison with existing results, the developed distributed control law depends on the relative position of the Euler-Lagrange systems instead of the relative internal state of the controller. In the case that all systems are only equipped with sensors rather than communication devices, the developed distributed control law shows its distinct advantage. Moreover, the communication cost can be reduced by the new adaptive control law. The effectiveness of the main result is demonstrated by its application to cooperative control of multiple two-link robot arms.