Development of a distributed consensus algorithm for multiple Euler–Lagrange systems

In this study, a consensus algorithm for multiple non-linear Euler–Lagrange systems is presented. This controller guarantees that all agents can reach a common state in the workspace. External disturbances acting on the system are included in the closed-loop stability analysis, and the input-to-state properties of the proposed controller are investigated based on the concept of input-to-state consensus. Moreover, the influence of structural uncertainty is further discussed on the basis of passivity theory. The robustness of the proposed consensus algorithm is then demonstrated in the presence of both external disturbances and structural uncertainty. Experiments are conducted to validate the effectiveness of the proposed consensus algorithm.