Task-Space Consensus of Networked Euler-Lagrange Systems to A Moving Leader

The problem of a networked uncertain Euler-Lagrange systems (followers) to track a virtual dynamic leader under asymmetric time-varying communication delays is studied in this paper. It is assumed that the network is a directed spanning tree with the virtual leader as the root. Due to highly nonlinear of Euler-Lagrange systems and communication delays, it is challenging to design a control algorithm for followers to track the moving leader. To cope with the problems, we proposed a distributed cascade control framework which decouples an estimate of the leader velocity in the task space and an adaptive controller in the generalized space. It is verified that the network asymptotically achieves task-space consensus. Simulation results of networked Omni-directional mobile robots are provided to demonstrate the efficacy of the proposed control algorithm.