Group consensus in uncertain networked Euler-Lagrange systems with acyclic interaction topology

In this paper, we investigate the group consensus problems of networked Euler-Lagrange systems with parametric uncertainties under directed acyclic interaction topology. We propose an adaptive group consensus protocol for such networks with two acyclic partition. By thoroughly exploiting the specific structure of acyclic interaction topology, we provide a convergence analysis procedure for the proposed group consensus protocol, and then present a necessary and sufficient condition for solving group consensus problems of uncertain networked Euler-Lagrange systems. Subsequently, numerical examples illustrate and visualize the effectiveness of the theoretical results.