Model-Independent Robust Consensus for Multiple Euler-Lagrange Systems of an Uncertain Leader
针对领导者模型参数未知且通信链路故障的多欧拉-拉格朗日系统，设计了自适应鲁棒观测器和模型无关控制器，实现领导者-跟随者一致性，并抵抗有界外部扰动。
In this article, we introduce adaptive robust observers for the estimation of comprehensive state variables and model parameters of a leader system. In particular, we suppose that the communication network among followers suffers communication link faults (CLFs), and the leader contains uncertainty, which means no follower knows the model parameters of leader system. Then, by applying the proposed observers, we elaborate on the design of a robust model-independent controller tailored for the leader-follower consensus problem (LFCP) of multiple Euler-Lagrange systems (MELSs). In contrast to the controllers currently employed for the LFCP in MELSs, the controller developed herein exhibits robustness against bounded external disturbances. Besides, the controller does not rely on the specific structure or characteristics of the Euler-Lagrange (EL) system model. At last, we provide simulation examples to demonstrate the validity of the proposed observers and the robust controller in the context of the LFCP for MELSs.