Coordinated tracking of Euler-Lagrange systems over directed graphs via distributed continuous controllers

This paper considers the coordinated tracking problem of Euler-Lagrange systems over directed graphs in the presence of a dynamic leader having varying vectors of generalized coordinate derivatives. A distributed continuous algorithm is proposed, which can guarantee that the tracking error is ultimately bounded and converges to a small adjustable residual set for any communication graph containing a directed spanning tree with the leader as the root node. Compared to the previous related works, our contribution is that the proposed distributed continuous algorithm can avoid the undesirable chattering effect and is applicable to general directed graphs. ? 2016 TCCT.EI8144-81492016-Augus