Robust consensus tracking control of networked Lagrange systems with external disturbance

This paper presents a robust consensus control algorithm for networked Lagrange dynamic systems which can describe a large class of mechanical objects such as robots and spacecraft in the presence of external disturbances. A general yet simple criterion is proposed for the design of appropriate filters, which are further integrated into the development of a UDE-based consensus control algorithm. A key feature of the developed distributed consensus scheme is its ability to achieve synchronous and consensus performance in complex network environments and under disturbed scenarios. The convergence analysis of the closed-loop systems is conducted using Lyapunov stability theory, and several comparative and illustrative examples are provided to demonstrate and visualise the theoretical results.