Consensus for multiple heterogeneous Euler-Lagrange systems with time-delay and jointly connected topologies

In this paper, we consider the consensus problem of multiple agents modeled by Euler-Lagrange (EL) equation, among which two classes of agents are addressed, i.e., some agents with exactly known parameters and the others with parametric uncertainties. We propose a distributed consensus protocol for the heterogeneous EL systems in which both time-delay and jointly connected topologies are taken into consideration. Based on graph theory, Lyapunov theory and Barbalat׳s lemma, the stability of the controller is proved. A distinctive feature of this work is to investigate the consensus problem of EL systems with heterogeneous dynamics, time-delay and jointly connected topologies in a unified theoretical framework. Simulation results are also provided to illustrate the effectiveness of the obtained results.