Tracking control in networked nonidentical Lagrange systems

This paper investigates tracking control in networked nonidentical Lagrange systems via backstepping scheme. The tracking backstepping algorithms are designed without velocities measurement of the neighbor agents, where the leader´s vector of position and velocity are varying and the directed fixed topology graph contains a spanning tree. Some general criterions on the convergence analysis for such algorithms without and with uncertain external disturbance are presented. Furthermore, the adaptive algorithm for uncertain external disturbance systems can control the chattering in the procession of tracking efficiently. It is shown that all followers can track the leader´s dynamics. Two examples and simulations show the effectiveness of the proposed algorithms.