Constrained synchronization control of networked nonlinear Euler-Lagrange systems

In this paper two control algorithms for constrained synchronization control of networked Euler-Lagrange (EL) systems are developed. The first proposed distributed control law requires full state feedback where boundedness of the control efforts are guaranteed for all initial system conditions. The second proposed control law is based on output feedback and does not require velocity measurements. Simulation results for the state synchronization control of networked planar robots are reported to verify our theoretical analysis and to compare performance of our proposed synchronization controllers with other results that are available in the literature.