Robust Leaderless Consensus of Euler-Lagrange Systems with Interconnection Delays

In this work, a distributed control method to achieve the leaderless consensus of heterogeneous Euler-Lagrange (EL) systems with bounded time-varying communication delays while simultaneously rejecting periodic external disturbances is reported. The robust controller has a simple-to-implement structure of proportional-integral-derivative scheme that employs the internal model approach to reject the disturbance. We consider that the network of EL-systems is interconnected through an undirected weighted graph that is static and we assume that the information exchange between any connected nodes is subjected to bounded variable time-delays. The efficacy of the proposed method is shown in a numerical simulation using a network of ten robotic manipulators.