Output-Feedback Consensus of Delayed Networks of Euler–Lagrange Agents With Bounded Controllers

This letter proposes a novel decentralized output-feedback controller for networks of fully-actuated Euler–Lagrange (EL) agents that solves the leaderless and the leader–follower consensus problems considering that the actuators are non-ideal, therefore they might saturate, and that the interconnection of the agents is prone to time–varying delays. The controller is designed to be bounded and it is dynamical. The stabilization mechanism relies on damping injection in the controller dynamics that is back-propagated to the plant. Using Barbalat’s Lemma we show that all the EL–agents positions converge to the same value and that velocities converge to zero. The letter also presents a comparative simulation study with an unbounded controller.