Consensus of nonidentical euler-lagrange systems under switching directed graphs

Abdelkader Abdessameud

Research output: Contribution to journalArticlepeer-review

25 Scopus citations


This paper studies the consensus problem of nonidentical 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)
Article number8447223
Pages (from-to)2108-2114
Number of pages7
JournalIEEE Transactions on Automatic Control
Issue number5
StatePublished - May 2019

All Science Journal Classification (ASJC) codes

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


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