Distributed Consensus Control for Euler-Lagrange Systems under Switching Topologies

This paper addresses the distributed consensus control problem for multiple Euler-Lagrange systems under switching topologies. Firstly, to accurately estimate the state information of the leader, an observer which is integrated with switching signal is constructed. Then, the consensus problem for Euler-Lagrange systems under switching topologies is transformed into a tracking problem. Different from some existing results, the proposed control strategy is applicable to systems without directed spanning tree in some topologies by designing the appropriate switch signals that meet general rules. Finally, the effectiveness of the proposed consensus algorithms is proved according to Lyapunov theory and verified via a simulation example.