Distributed Adaptive Coordinated Control of Multiple Euler–Lagrange Systems considering Output Constraints and Time Delays

Table 1

Mathematical symbols in this study.

Mathematical symbol	Definition
	The set of real numbers
	The set of -dimensional column vectors with all elements being real numbers
	The set of real matrices
	identity matrix
	Diagonal matrices whose diagonal elements are
	Kronecker product
	The minimum eigenvalue of a real symmetric matrix
	The maximum eigenvalue of a real symmetric matrix
	Matrix trace