  This paper derives sufficient conditions for bounded distributed
connectivity-preserving coordination of Euler-Lagrange systems with only
position measurements and with system uncertainties, respectively. The paper
proposes two strategies that suitably scale conventional gradient-based
controls to account for the actuation bounds and to reserve sufficient
actuation for damping injection. For output feedback control of networked
systems with only position measurements, the paper incorporates a first-order
filter to estimate velocities and to inject damping for stability. For networks
of uncertain systems, the paper augments conventional linear filter-based
adaptive compensation with damping injection to maintain the local connectivity
of the network. Analyses based on monotonically decreasing Lyapunov-like
functions and Barbalat's lemma lead to sufficient conditions for bounded local
connectivity-preserving coordination of Euler-Lagrange networks under the two
strategies. The sufficient conditions clarify the interrelationships among the
bounded actuations, initial system velocities and initial inter-system
distances. Simulation results validate these conditions.
