Group consensus in uncertain networked Euler-Lagrange systems with stochastic disturbances

This paper considers adaptive group consensus in uncertain networked Euler-Lagrange systems under directed acyclic topology graph. By considering input stochastic noises disturbances, the distributed adaptive group consensus protocols are proposed for two cases respectively, namely, the case where there do not exist the leaders and the case where there exist the leaders. Furthermore, a necessary and sufficient condition for solving group consensus problems in the sense of mean square is presented based on the specific structure of acyclic network topology. It is demonstrated that the developed group consensus condition is only dependent on the directed network topology with acyclic partition, and so it is easy to verify in practical applications. Finally, numerical simulations are given to show the effectiveness and validity of the theoretical results.