On consensus algorithms of multiple uncertain mechanical systems with a reference trajectory

This paper considers the consensus problem of multiple uncertain mechanical systems with a desired trajectory as an agreement vector. In the consensus problem, a desired trajectory is available to a portion of a group of mechanical systems. Distributed adaptive/robust control laws are proposed such that the state of each system asymptotically converges to the desired trajectory with the aid of information interchange between systems. Simulation results show effectiveness of the proposed controllers. (C) 2011 Elsevier Ltd. All rights reserved.