Cooperative controller design for synchronization of networked uncertain Euler-Lagrange systems

This paper addresses the synchronization problems with/without a dynamic leader for a team of distributed Lagrange systems on digraph. A systematic way to design and analyze the distributed control algorithms is presented. The contributions of the paper are twofold. First, the adaptive coordination control protocols are proposed for synchronization of networked uncertain Lagrange systems with/without tracking. This protocol can guarantee synchronization in finite time. Second, the design of the distributed tracking controller for the networked dynamic systems is proposed by using Lyapunov methods. The development is suitable for the general digraph communication topologies. Simulation examples are included to demonstrate the effectiveness of the proposed algorithms.