The Leader-Following Consensus of Multiple Uncertain Euler-Lagrange Systems Under Matrix-Weighted Graphs

This paper resolves the matrix-weighted consensus tracking problem for multiple Euler-Lagrange (EL) systems with parametric uncertainties. We develop a matrix-weighted consensus observer that enables the leader’s state to be estimated, where only a part of followers can directly receive the state of the leader. With the help of the designed observers, we develop a distributed controller to realize the leader-following consensus. A numerical example demonstrates the validity of the theoretical analysis.