This technical note focuses on the leader-following consensus problem of multiple uncertain Euler-Lagrange systems subject to communication delays and switching networks. By integrating the feedforward control approach with the adaptive control approach, a new adaptive distributed controller is developed. As opposed to the existing literature, our result has its distinct advantages in that it can accommodate arbitrarily bounded nonuniform time-varying communication delays, and directed jointly connected switching communication networks. The effectiveness of the main result is demonstrated by some exemplary applications to cooperative control of some practical multiple mechanical systems.

中文翻译：

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受通信延迟和交换网络影响的多个不确定 Euler__agrange 系统的领导者跟随共识


本技术说明重点关注受通信延迟和交换网络影响的多个不确定欧拉-拉格朗日系统的领导者跟随共识问题。通过将前馈控制方法与自适应控制方法相结合，开发了一种新的自适应分布式控制器。与现有文献相反，我们的结果具有其明显的优势，因为它可以适应任意有界的非均匀时变通信延迟，以及定向联合连接的交换通信网络。主要结果的有效性通过一些实际多机械系统协同控制的示例应用得到证明。