Tracking Control of Multi-Euler-Lagrange Systems under Time-varying Disturbance and Communication Delay

This article address the distributed tracking control problem of multiple Euler-Lagrange systems with uncertainty and external time-varying disturbance, taking into account agents under the directed graph of information transmission have time-varying delay. Based on the Lyapunov stability technique, adequate qualification for the gradual astringe of the leader and followers tracking errors are established using the designed distributed adaptive control law. Finally, the availability of the brought forward control protocol is verified by simulation examples.