Leader-following rendezvous for uncertain Euler-Lagrange multi-agent systems by output feedback

In this paper, we investigate the problem of output feedback tracking for a class of Euler-Lagrange multi-agent systems with unmeasurable velocity and input disturbances. By proposing a novel dynamic velocity observer, an adaptive output feedback consensus algorithm is proposed such that the tracking errors of all agents can converge to an arbitrarily small neighborhood of zero by tuning the design parameters. A numerical example is presented to illustrate the effectiveness of the controller.