Leader-following consensus of multiple uncertain Euler-Lagrange systems

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)4093-4104
Number of pages12
Journal / PublicationInternational Journal of Robust and Nonlinear Control
Issue number14
Online published17 May 2018
Publication statusPublished - 25 Sep 2018


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.

Research Area(s)

  • Adaptive distributed control, Leader-following consensus, Multiagent systems, Uncertain Euler-Lagrange system