Leader-following consensus of multiple uncertain Euler-Lagrange systems

A new adaptive distributed controller is developed for the leader-following consensus problem of multiple uncertain Euler-Lagrange systems. A distinct feature of our proposed approach as opposed to the existing ones is that it does not need the exchange of controller's state among the communication network. As a consequence, it not only makes the implementation of the controller much easier but also reduces the communication cost. The effectiveness of the main result is demonstrated by some exemplary applications to cooperative control of multiple two-link robot arms.