Cooperative tracking control of Euler-Lagrange systems with switching communication network topologies

Formation control of multiple agents has been studied extensively in the past few years. In most of these studies the structure of the communication network was considered to be fixed. However, in some applications this assumption may not hold, specially when the communication among the agents depends on their relative distance or attitude. In this paper, the problem of formation control of multiple Euler-Lagrange (EL) systems under switching network topologies is considered. Our proposed distributed control algorithm guarantees state synchronization and trajectory tracking under arbitrary switching among a family of connected communication topologies. Our proposed control algorithm is extended to cooperative state regulation of multiple EL systems. Simulation results show the effectiveness of our developed control algorithms.