Leader-Follower Formation Control for Multiple Uncertain Euler-Lagrange Systems Based on Average Dwell Time

This paper addresses the leader-follower formation control of switched uncertain Euler-Lagrange systems under the condition that the abrupt parameter and communication topology change. Distributed formation tracking performance is achieved through the design of appropriate sliding mode variables, which encompass the communication interactions among the robots, and a sufficient condition regarding the switching time among subsystems is derived. First, the networked Euler-Lagrange systems are modeled as switched Lagrange systems, and then a distributed leader-follower formation control strategy is developed based on the average dwell time (ADT). The Lyapunov stable theory performs the closed-loop stable analysis and the simulation example demonstrates the effectiveness of the proposed control techniques.