Consensus in Networks of Uncertain Euler-Lagrange Systems With Input Disturbances

Accompanying video of the work "Consensus in Networks of Uncertain Euler-Lagrange Systems With Input Disturbances", where we solve the leaderless and the leader-follower consensus problems for a network of nonlinear Euler-Lagrange systems that have external constant input disturbances. We provide a novel robust scheme that does not require any knowledge of the physical parameters. Our proposal is composed of a simple Proportional-Derivative scheme together with a gravity adaptive term and an integral term that rejects the external disturbance. The controller is simple to implement in real-life scenarios.