Distributed Consensus of Euler-Lagrange Systems Under Switching Directed Graphs

The consensus problem of Euler-Lagrange networks with parametric uncertainties is addressed in this paper. In particular, we present an adaptive distributed control algorithm that solves the leaderless consensus problem without conservative assumptions on the directed and switching interaction between agents. The proposed algorithm is based on an additional dynamical system that ensures the control objective without the need of relative velocity signals. We further show that the proposed protocol can be extended to take into account the discontinuity of the input torque that results from the switching interaction between agents. Simulation results are given to illustrate the effectiveness of the proposed control schemes.