The leader-following consensus for multiple uncertain Euler-Lagrange systems with a distributed adaptive observer

@article{Cai2015TheLC,
  title={The leader-following consensus for multiple uncertain Euler-Lagrange systems with a distributed adaptive observer},
  author={He Cai and Jie Huang},
  journal={2015 IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)},
  year={2015},
  pages={218-223}
}
The leader-following consensus problem of multiple uncertain Euler-Lagrange systems under switching network topology was studied using the distributed observer approach in one of our recent papers. However, the distributed observer in that paper assumed that all the followers knew the system matrix of the leader system. In this paper, we first propose a distributed adaptive observer which only assumes those followers who are the children of the leader know the system matrix of the leader system… CONTINUE READING

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