Asymptotic synchronization of leader-follower networks of uncertain Euler-Lagrange systems

This paper investigates the synchronization of a network of Euler-Lagrange systems with leader tracking. The Euler-Lagrange systems are heterogeneous and uncertain and contain bounded, exogenous disturbances. Network communication is governed by an undirected topology. The network leader has a time-varying trajectory which is known to only a subset of the follower agents. A Robust Integral Sign of the Error (RISE) based decentralized control law is developed to guarantee semi-global asymptotic agent synchronization and leader tracking.