A disturbance observer-based synchronization control architecture for Euler-Lagrange networks with a dynamic leader

Abstract

This paper explores the challenges of synchronizing Euler-Lagrange networks that include a dynamic leader, utilizing a disturbance observer method. In this network, each agent is characterized by Euler-Lagrange equations of motion with dynamics that are not fully known. Unlike most existing approaches for handling uncertainties in Euler-Lagrange networks, the structure of the dynamic equations is assumed to be unavailable, making existing adaptive control schemes inapplicable. Therefore, a new formulation is proposed for Euler-Lagrange networks to lump the uncertain dynamical terms, estimate them, and suppress their effects accordingly. The closed-loop stability of the overall system is analyzed using the Lyapunov stability theorem. Simulation results show that the proposed approach outperforms two existing benchmark control methods. © 2025 The Franklin Institute. Published by Elsevier Inc. All rights are reserved, including those for text and data mining, AI training, and similar technologies.