Distributed adaptive regulation algorithm of networked Euler-Lagrange system with input and communication delays

This paper studies regulation control of networked Euler-Lagrange system with unknown parameters and various time delays. An adaptive controller is proposed based on graph theory, Lyapunov stability theory and frequency-domain analysis. A distingctive feature of this work is to address the regulation with uncertain parameters, coupling input and communication delays in a unified theoretical framework. It is shown that the consensus condition depends on input delays. Numerical simulation is also provided to illustrate the effectiveness of the controller.