Distributed leader-following control for uncertain networked Lagrangian systems without using neighbors´ velocity information

In this paper, we investigate the distributed leader-following control problem of uncertain networked Euler-Lagrange systems without using the neighbors´ velocity information in the case that only a few of the followers have access to the leader. We consider the active leader case. Based on a kind of low-pass filter and the Lyapunov analysis, for the uncertain Lagrangian system, we design a distributed adaptive controller so that the tracking errors of each follower converge to an adjustable neighborhood of the origin in the presence of linearly parameterized model uncertainties without relative velocity measurements. Simulation results are presented to demonstrate the effectiveness of the proposed method.