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

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.