Cooperative Adaptive Identification and Force Control for Networked Euler-Lagrange Systems

This paper investigates the cooperative adaptive environment identification and the force control problems for heterogeneous Euler-Lagrange systems. A distributed adaptive control law is designed to identify the external environment, and the parameter convergence and the parameter consensus are achieved. The cooperative control law is easier to satisfy the persistently exciting condition. Using the containment control approach, a distributed control law is proposed to guarantee that the trajectory error and the parameter errors are uniformly ultimately bounded. The effectiveness of the proposed adaptive control laws is demonstrated by some simulation examples.