Consensus of Non-identical Euler-Lagrange Systems under Switching Directed Graphs

Abdelkader Abdessameud

Research output: Contribution to journalArticlepeer-review

5 Scopus citations


This paper studies the consensus problem of non-identical Euler-Lagrange systems, with parametric uncertainties, under switching directed graphs. We present an adaptive distributed control algorithm that solves this problem, in the leaderless scenario, under weak assumptions on the switching interconnection between agents. It is shown that the proposed consensus protocol achieves consensus without using neighbor's velocity information and accounts for the discontinuity of the input torque that results from the switching interaction between agents. Simulation results are given to illustrate the effectiveness of the proposed control schemes.

Original languageEnglish (US)
JournalIEEE Transactions on Automatic Control
StateAccepted/In press - Aug 24 2018

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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