Adaptive velocity-free consensus of networked Euler-Lagrange systems with delayed communication
Lijiao Wang, Yong Hu, Bin Meng · 2016
This paper addresses the leaderless consensus problem of multiple Euler-Lagrange (EL) systems on directed graphs containing a spanning tree, provided that the velocity signals of the agents are unavailable. Considering dynamic uncertainties and bounded constant communications delays, we propose a distributed output feedback control scheme comprised by a novel distributed sliding observer and an integral sliding vector based adaptive controller. The proposed strategy gives rise to the scaled weighted average consensus of the networked EL agents. The convergence of consensus errors is proved by use of the Lyapunov stability analysis tool and the frequency domain input-output analysis tool. Finally, the performance of the proposed consensus scheme is shown by numerical simulation.