Zero-error coordinated tracking of multiple lagrange systems using continuous control

In this paper, we study the coordinated tracking problem of multiple Lagrange systems with a time-varying leader´s generalized coordinate derivative. Under a purely local interaction constraint, i.e., the followers only have access to their local neighbors´ information and the leader is a neighbor of only a subset of the followers, a continuous coordinated tracking algorithm with adaptive coupling gains is proposed. Tracking errors between the followers and the leader are shown to converge to zero. Then, we extend this result to the case when the leader´s generalized coordinate derivative is constant. Examples are given to validate the effectiveness of the proposed continuous coordinated tracking algorithms.