Adaptive Control for Rendezvous Problem of Networked Uncertain Euler-Lagrange Systems

This paper further improves the results for the leader-following rendezvous problem for multiple uncertain Euler-Lagrange systems. Based on a self-tuning adaptive observer, which can work under the more relaxed assumption that the information of the leader system is only available to informed followers in the rendezvous network, a full state distributed control law, depending only on the neighbor's information, is first proposed to preserve the connectivity of the initially connected rendezvous network, as well as to achieve the asymptotic tracking of leader's signal. And then such full state control strategy is further improved to be independent of the relative velocity of two neighboring agents by introducing an additional time-varying nonlinear term, determined by potential function. At the same time, dynamic gains are also introduced to make control parameter independent of system dynamics.