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This paper investigates the synchronization of a network of Euler-Lagrange systems with leader tracking. The Euler-Lagrange systems are heterogeneous and uncertain and contain bounded, exogenous disturbances. The network leader has a timevarying trajectory which is known to only a subset of the follower agents. A robust integral sign of the error-based decentralized control law is developed to yield semiglobal asymptotic agent synchronization and leader tracking.

Summary A distributed controller is developed that yields cooperative containment control of a network of autonomous dynamical systems. The networked agents are modeled with uncertain nonlinear Euler–Lagrange dynamics affected by an unknown time‐varying exogenous disturbance. The developed continuous controller is robust to input disturbances and uncertain dynamics such that asymptotic convergence of the follower agents' states to the dynamic convex hull formed by the leaders' time‐varying states is achieved. Simulation results are provided to demonstrate the effectiveness of the developed controller. Copyright © 2016 John Wiley & Sons, Ltd.

This paper presents the development of a robust adaptive controller for the dynamics of a quadrotor unmanned aerial vehicle (UAV) in the presence of linear-in-the-parameter uncertainties and bounded exogenous disturbances. The controller is designed to asymptotically track a desired position and yaw angle trajectory via a modular adaptive update law and a robust integral sign of the error (RISE) feedback term. A Lyapunov-based stability analysis is used to prove asymptotic tracking of the desired states and to ensure all closed-loop signals remain bounded.