Synchronization Tracking of a Class of Uncertain Nonidentical Networked Euler-Lagrange Systems on Directed Graphs

Abstract

In this paper, the adaptive distributed synchronization tracking control is studied for uncertain nonidentical networked Euler-Lagrange systems. The communication status is described by a directed graph, and only the informed subsystems can access the time-varying reference trajectory. A fully distributed adaptive control law is developed by estimating the reference trajectory for uninformed subsystems, and the asymptotic synchronization tracking is ensured without prior information about the global directed topology. Simulation results on nonlinear manipulators with two revolute joints are provided to show the effectiveness of the proposed control algorithm.