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The leader-following consensus problem for multiple Euler-Lagrange systemswas studied recently by the adaptive distributed observer approach under theassumptions that the leader system is neurally stable and the communicationnetwork is jointly connected and undirected. In this paper, we will study thesame problem without assuming that the leader system is neutrally stable, andthe communication network is undirected. The effectiveness of this new resultwill be illustrated by an example.

Adaptive Leader-Following Consensus for Uncertain Euler-Lagrange Systems under Directed Switching Networks