The Leader-Following Consensus for Multiple Uncertain Euler-Lagrange Systems With an Adaptive Distributed Observer

This is the authors' abstract. We don't add key points for this paper.

In this note, we first propose an adaptive distributed observer for a linear leader system. This observer only assumes those followers who are the children of the leader know the system matrix of the leader system. Then, we further develop a distributed adaptive controller utilizing this adaptive distributed observer to solve the leader-following consensus problem for multiple uncertain Euler-Lagrange systems without assuming that all the followers need to know the system matrix of the leader system.