Velocity synchronization of networked Euler-Lagrange systems with switching network topologies subject to actuator faults

In this paper, we first introduce a distributed control strategy for velocity synchronization (or velocity consensus seeking) of multiple heterogeneous Euler-Lagrange (EL) systems with switching communication network topologies. This controller is denoted as the “nominal” controller. To guarantee velocity synchronization for switching communication network topologies we require existence of non-vanishing dwell-time between any two sequential switches. Next, we consider two types of actuator faults namely (1) additive actuator fault, and (2) loss of effectiveness actuator fault. By employing the nominal control algorithm developed for velocity synchronization, we introduce two control algorithms for velocity synchronization in presence of the two types of faults. Simulation results illustrate and demonstrate the effectiveness of our proposed control algorithms.