Distributed tracking control for multiple Euler-Lagrange systems with communication delays and input saturation.

This study mainly investigates the problem of distributed tracking control for time-varying delay existing multiple Euler-Lagrange systems considering full-state constraints and input saturation under the directed graph. Specifically, the system under consideration consists of system uncertainties and external disturbances. In the control law design, a distributed observer is first designed that the followers can obtain the leader's time-varying information. Then the barrier Lyapunov function technique is used to make sure the system errors can converge to a certain range while the anti-windup method is utilized to overcome the influence of control input saturation. Further, in order to prevent chattering, an adaptive law is given. Numerical simulations are given to verify the proposed algorithms.