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This published paper investigates the distributed tracking control problemfor a class of Euler-Lagrange multi-agent systems when the agents can onlymeasure the positions. In this case, the lack of the separation principle andthe strong nonlinearity in unmeasurable states pose severe technical challengesto global output-feedback control design. To overcome these difficulties, aglobal nonsingular coordinate transformation matrix in the upper triangularform is firstly proposed such that the nonlinear dynamic model can be partiallylinearized with respect to the unmeasurable states. And, a new type of velocityobservers is designed to estimate the unmeasurable velocities for each system.Then, based on the outputs of the velocity observers, we propose distributedcontrol laws that enable the coordinated tracking control system to achieveuniform global exponential stability (UGES). Both theoretical analysis andnumerical simulations are presented to validate the effectiveness of theproposed control scheme. Followed by the original paper, a typo and a mistakeis corrected.

Distributed Global Output-Feedback Control for a Class of Euler-Lagrange Systems