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Distributed Observer-Based Leader-Follower Consensus of Multiple Euler-Lagrange Systems.

Mingkang Long, Housheng Su, Zhigang Zeng

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    This study addresses leader-follower consensus in Euler-Lagrange systems facing disturbances and faulty communication. A novel adaptive observer and model-independent PI control achieve robust state estimation and trajectory tracking.

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    Area of Science:

    • Robotics and Control Systems
    • Nonlinear System Dynamics
    • Distributed Systems

    Background:

    • Leader-follower consensus is crucial for coordinated multi-agent systems.
    • Euler-Lagrange systems are common in robotics but susceptible to disturbances.
    • Faulty communication links and partial state information pose significant challenges.

    Purpose of the Study:

    • To develop a robust consensus protocol for multiple Euler-Lagrange systems.
    • To address uncertain external disturbances and communication link faults.
    • To handle scenarios with limited leader state information.

    Main Methods:

    • Design of an adaptive distributed observer for real-time leader state estimation.
    • Development of a model-independent proportional-integral (PI) control protocol.
    • Ensuring resilience to communication faults and robustness to external disturbances.

    Main Results:

    • The adaptive distributed observer effectively estimates leader states despite communication faults.
    • The PI consensus protocol achieves model-independent trajectory tracking.
    • The proposed methods demonstrate resilience and robustness in simulations.

    Conclusions:

    • A novel adaptive distributed observer-based PI consensus protocol is presented for Euler-Lagrange systems.
    • The protocol is model-independent, robust to disturbances, and resilient to communication faults.
    • Simulation results validate the effectiveness and practical applicability of the proposed approach.