Leader-Follower output reference state feedback synchronization control of Euler-Lagrange systems

A coordinated synchronization control scheme to synchronize two or more Euler-Lagrange systems in a leader-follower configuration is presented where the only information requirements of the leader are that of position and orientation only, i.e. the mathematical model with its parameters and the velocity and acceleration of the leader are considered unknown and unmeasured. An model-based nonlinear observer is designed to indirectly estimate the velocity and acceleration of the leader through the synchronization errors, and the observer-controller scheme is shown to give global uniformly ultimately bounded closed-loop errors.