Distributed Nonlinear Placement for a Class of Multicluster Euler–Lagrange Systems

In this article, the distributed nonlinear placement problem for a class of multicluster Euler–Lagrange systems is considered. The problem is first converted into a time-varying noncooperative game. A distributed Nash equilibrium seeking algorithm composed of an auxiliary double-integrator system and a coordinated-tracking observer is designed to solve the problem. The convergence results are established by an iterative approach and the small gain theorem. The effectiveness of the algorithm is demonstrated via simulations.