Distributed leader-following consensus for multiple Euler-Lagrange systems under switching network

The leader-following consensus problem for multiple uncertain Euler-Lagrange systems has been studied under some restrictive assumptions on the network topology. In this paper, we further study the same problem under switching network topology. We propose a distributed adaptive control law that can solve the problem under a switching network satisfying jointly connected condition. Under this condition, our results do not require the network to be undirected and allow the network to be disconnected at any time instant. Moreover, by introducing a leader system to generate various reference signals, our control law can handle a class of reference signals such as step functions, ramp functions, sinusoidal functions, etc., as well as their linear combinations.