Leader-following Consensus of Multiple Uncertain Euler-Lagrange Systems Subject to Unknown Disturbances over Switching Networks

In this paper, we study the leader-following consensus of uncertain multiple Euler-Lagrange systems subject to unknown disturbances over jointly connected communication networks. We employ an adaptive distributed observer to provide each follower an estimation of the reference trajectory over jointly connected switching networks, and apply the adaptive control technique to estimate both the uncertain parameters of the plant and the upper bound of the external disturbance. As a result, the approach of this paper can handle a large class of reference trajectories and any bounded disturbance with unknown upper bound.