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In this article, we study the leader-following consensus problem for multiple Euler–Lagrange (EL) systems with natural damping over static and connected communication networks by a distributed position feedback control law. By combining the adaptive distributed observer for a leader system and the dynamic compensator technique for dealing with a single EL system by position feedback control, we synthesize a distributed position feedback control law and show that this control law solves the leader-following consensus problem for multiple EL systems with natural damping. A numerical example will be used to illustrate our design. [ABSTRACT FROM AUTHOR]

The leader-following consensus problem for a class of multiple robot manipulators subject to a static and connected network has been studied recently by a distributed position feedback control law. In this technical note, we will further study the same problem under a switching network satisfying the jointly connected condition. Since the switching network can be disconnected at every time instant, the approach in the literature does not apply to the problem in this technical note. To deal with the disconnected switching network, we adopt the adaptive distributed observer approach to synthesize a distributed position feedback control law. It turns out that this control law solves the leader-following consensus problem for the class of multiple robot manipulators. The effectiveness of this new result is validated by an example. [ABSTRACT FROM AUTHOR]