Robust cooperative saturated output feedback control of uncertain networked Euler-Lagrange systems

This paper deals with the leaderless synchronization of multiple agents modeled by nonlinear uncertain Euler-Lagrange equations with unmeasurable velocities and bounded control inputs. An adaptive cooperative control law is proposed to the entire group sync with uncertainty. Due to the fact that the closed-loop interconnected Euler-Lagrange equations employing this algorithm are non-autonomous, Matrosov's theorem is exploited to guarantee finite time synchronization in spite of the presence of the system uncertainties and external disturbances. From the simulation results, the consensus scheme has been shown to achieve favorable performance and the synchronization is reached on the generalized coordinates.