Abstract
In this paper, the distributed optimal consensus control of a group of Euler-Lagrange systems under input saturation is considered. The objective function is only known by each agent itself. Meanwhile it is assumed that the velocities of the systems are unknown. To solve this problem, the filters and observers are designed for each agent. The magnitudes of the control input could be guaranteed within the bounds which are given in advance. It is shown that global optimal consensus control could be achieved under the proposed bounded controllers. The states of all agents will reach a consensus which minimizes the sum of the objective functions of all agents. Simulation results illustrate the effectiveness of the control schemes.
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