Distributed Optimal Coordination of Multiple Euler-Lagrange Systems over Directed Networks

This paper investigates the distributed optimal coordination (DOC) problem of multiple Euler-Lagrange (EL) systems over weighted-unbalanced directed networks. By introducing a balanced compensation variable associated with the out-degree information, a nonlinear DOC controller coupling with a DOC estimator are established to estimate optimal solution of DOC problem while coordinating the states of all agents to reach consensus. Additionally, a Lyapunov stability analysis framework is formulated to analyze the convergence of the proposed DOC algorithm. Finally, a numerical simulation is illustrated to validate the effectiveness of proposed theoretical results.