Adaptive UDE-Based Distributed Consensus Control for Multiple Euler-Lagrangian Systems with Communication Delays

This paper focuses on the distributed consensus tracking problem for multiple Euler-Lagrangian(EL) systems with communication delays. An adaptive uncertainty and disturbance estimator (UDE)-based control method is proposed, which can not only eliminate the disturbances of the system, but also achieve consensus tracking of multiple EL systems with good adaptability to the communication delay problem of the system. Moreover, a unified analysis framework of closed-loop control system is established by Lyapunov-like analysis. The proposed algorithm is simple in structure and has good robustness for dealing with external disturbances. Finally, the accuracy and effectiveness of the proposed method are verified by simulation experiments.