euler-lagrange dynamics

Euler-Lagrange systems include a wide class of dynamic systems such as electrical, mechanical and robotic systems. In this paper, a disturbance observer-based control methodology is developed for a multi-agent network including several agents with Euler-Lagrange motion dynamics. The control objective is to reach the same position by all agents in both leader-less or leader-follower situations. The proposed control scheme estimates the disturbance term due to the dynamic uncertainties, and the estimated value is utilized in the control law as a feedforward term. In contrast to the existing adaptive control methodologies for handling uncertainties, the proposed scheme guarantees satisfactory performance in the presence of uncertainty without the need for a dynamic structure of the system. Stability analysis of the proposed scheme is done using the Lyapunov theory. The effectiveness of the proposed method is validated by simulation studies for regulation and tracking objectives in leader-follower cases and consensus objectives in leaderless scenarios.