Distributed Reduced-Order Observer-Based Consensus of Multiple Euler-Lagrange Systems Over Switching Networks

In this paper, we investigate leader-follower consensus (LFC) of multiple Euler-Lagrange systems (MELSs) under the case that followers can only measure partial output information of leader system, and the communication network among followers is switching and jointly connected. Firstly, in order to accurately estimate complete state information of the leader system in real time, we propose a distributed reduced-order observer, which is valid over a jointly connected switching network. Then, by applying this distributed reduced-order observer, we further design an observer-based controller for multiple Euler-Lagrange systems (MELSs) to reach leader-follower consensus (LFC). Distinct with the existing controllers for LFC of MELSs, this controller is robust for bounded external disturbances, and independent of the structure and features of Euler-Lagrange (EL) system. At last, a simulation example is given to confirm the effectiveness of the proposed distributed reduced-order observer and robust controller. Note to Practitioners—Many practical engineering applications (such as spacecrafts, mobile robot manipulators) can be modeled as multiple uncertain Euler-Lagrange systems, where each agent suffers external input disturbances, and only a portion of followers can measure partial components of leader’s output. However, most relevant works assumed that the dynamic information of each agent is completely known, agents do not suffer external input disturbances, and all follower agents can measure full-dimensional output of leader. How to achieve LFC for such MELSs has become a main focus of control researches. Thus, this paper proposes an adaptive distributed reduced-order observer-based consensus algorithm for such MELSs, whose communication network is switching and jointly connected. Finally, the effectiveness of the proposed algorithm is illustrated by a simulation example.