Model-independent consensus control of Euler-Lagrange agents with interconnecting delays

In this paper, we introduce, for the first time, a proportional-integral-derivative controller to solve the consensus problem for networked Euler-Lagrange agents. The proposed control scheme solves both the leaderless and the leader-follower consensus problems without requiring the exact knowledge of any part of the agent model. Contrary to the previous studies in the literature, we do not require either to cancel any part of the agent model, which renders robust our approach, nor employ discontinuous controllers. It is proven that both consensus problems are solved globally and asymptotically and the presence of bounded time-varying communicating delays is considered.