Distributed Tracking Control for Networked Uncertain Euler-Lagrange Systems: A Low-Complexity Prescribed Performance Approach

Abstract

This paper investigates the distributed coordinated tracking problem for multiple networked uncertain Euler-Lagrange (EL) systems under a directed communication protocol, where only a subset of the followers has access to the leader. A robust and approximator-free control scheme is developed without using any prior knowledge of system nonlinearities, which guarantees that each follower follows the leader with prescribed tracking performance in terms of convergence rate and steady-state error. Such performance is solely prescribed by certain designer-specified performance functions, thus being fully isolated from the selection of control gains, the underlying graph topology, the agents' model uncertainties and the external disturbances. All the signals in the closed-loop system are guar-anteed to be bounded. Finally, simulation results on multiple networked two-link revolute joint robot arms are provided to verify the validity and efficiency of this approach.