Adaptive Group Consensus for Networked Euler-Lagrange Systems Under a Directed Graph Without Relative Velocity Information

In this paper, we study the group consensus for networked Euler-Lagrange systems under a general nonsymmetric directed graph. The relationships between the interactive agents in the same group are cooperation while the relationships between the interactive agents among different group can be either cooperation or competition. Two assumptions are presented to achieve group consensus, respectively, interaction topology among groups being acyclic and the associated directed graph satisfying the in-degree balance condition. We propose a distributed adaptive control algorithm for each agent without relative velocity information. Simulation results are provided to demonstrate the effectiveness of the proposed control algorithms.