Distributed Optimal Consensus of Multiple Euler-Lagrange Systems Using only Relative Position Measurements Under a Directed Graph
Xiangzheng Meng, Jie Mei · 2023
In this paper, the distributed optimal consensus problem of multiple Euler-Lagrange systems under a directed graph using only relative position measurements is investigated. We adopt a model reference adaptive consensus strategy to assign each agent a reference to track, which transforms the consensus problem into a trajectory tracking problem. The proposed consensus algorithm only requires the relative position information and only the local gradient information is used. It is shown that the agents can achieve consensus to the optimal position. The numerical simulations are performed to show the effectiveness of the theoretical results.