Bipartite Consensus for Networked Underactuated Euler-Lagrange Systems via Energy Shaping

This paper focuses on the study of the bipartite consensus problem for networked underactuated Euler-Lagrange systems (NUELSs). By means of an energy shaping approach and a sliding mode control approach, an adaptive control strategy is proposed to solve the bipartite consensus of NUELSs. The main feature of this work is the introduction of an auxiliary sliding mode variable to characterise the communication interactions between the agents and the integration of the three-part energy of the system, the controller, and the adaptive control law, which significantly extends the application of the corresponding consensus problem in the existing literature focusing on the same value. Finally, the networked flexible-joint manipulator systems are used as the example to verify the correctness and effectiveness of the approach.