Leader-Following Consensus of Multiple Uncertain Euler-Lagrange Systems Subject to Communication Delays and Switching Networks

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

32 Scopus Citations
View graph of relations



Original languageEnglish
Pages (from-to)2604-2611
Number of pages8
Journal / PublicationIEEE Transactions on Automatic Control
Issue number8
Online published8 Nov 2017
Publication statusPublished - Aug 2018


This technical note focuses on the leader-following consensus problem of multiple uncertain Euler-Lagrange systems subject to communication delays and switching networks. By integrating the feedforward control approach with the adaptive control approach, a new adaptive distributed controller is developed. As opposed to existing literature, our result has its distinct advantages in that it can accommodate arbitrarily bounded nonuniform time-varying communication delays, and directed jointly connected switching communication networks. The effectiveness of the main result is demonstrated by some examplary applications to cooperative control of some practical multiple mechanical systems.

Research Area(s)

  • communication delay, distributed control, leader-following consensus, multi-agent systems, switching network, Uncertain Euler-Lagrange system