Robust consensus tracking control for switched multiple Lagrangian systems by UDE-based control method

The robust consensus tracking control of the switched multiple Lagrangian systems is investi-gated by the uncertainty and disturbance estimator (UDE)-based control method. Firstly, the switching control method based on the average dwell time (ADT) algorithm is utilized for parameters and network communication topology switching of multiple Lagrangian systems to reduce the impact of load variation and enhance robustness. Then, in two parts, a proposed adaptive UDE-based control method for multiple Lagrangian systems with lumped uncertainty and load variation. In the initial stage, a consensus tracking control of the nominal switched multiple Lagrangian systems is realized via an adaptive backstepping tracker. The UDE control method is integrated and used in the second stage for the exact adjustment of model uncer-tainties and disturbances as well as asymptotic estimates. It is worth noting that by designing different filters for UDE, it is possible to handle several specified external disturbances that are unbounded. The unified analysis framework of the closed-loop switched control system is realized through Lyapunov analysis. Therefore, the proposed consensus tracking algorithm has a simple structure and good robustness in handling load changes, model uncertainties, and external disturbances. Finally, illustrative examples with computer simulation are provided to verify the effectiveness and correctness of the obtained results.