Leader -following bipartite consensus of multiple uncertain Euler-Lagrange systems over signed switching digraphs

In this paper, we investigate the leader-following bipartite consensus problem of multiple uncertain Euler-Lagrange (EL) systems over signed switching networks. We first extend the distributed observer for a linear leader system over signed communication networks from the static case to the jointly connected switching case. Based on such a distributed observer and the certainty equivalence principle, we further show that, under the assumptions that the signed switching network is structurally balanced and jointly connected, the leader-following bipartite consensus problem of multiple uncertain EL systems over signed switching networks is solvable by a class of distributed adaptive control law. Our result will then be applied to the leader-following bipartite consensus problem of a group of two-link robot manipulators. © 2020 Elsevier B.V.