Leader-Following Consensus of Uncertain Euler-Lagrange Multi-Agent Systems with Communication Delays
Maobin Lu, Lu Liu · 2018
This paper investigates the leader-following consensus problem of multiple uncertain Euler-Lagrange systems with communication delays under switching networks. A new adaptive distributed controller is developed to overcome the difficulties caused by the communication delays and switching networks. In comparison with existing works, the salient feature of this work is that both arbitrarily bounded nonuniform time-varying communication delays, and jointly connected switching communication networks can be accommodated. The effectiveness of the main result is demonstrated by one examplary application to cooperative control of some practical multiple mechanical systems.