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Distributed formation-containment control for multiple Euler–Lagrange systems with guaranteed performance and unknown control directions

Author

Listed:
  • Luyan Xu
  • Chaoli Wang
  • Xuan Cai
  • Yujing Xu
  • Chonglin Jing
  • Longyan Hao

Abstract

In this paper, the distributed formation-containment (DFC) problem for multiple Euler–Lagrange Systems (ELSs) with unknown control directions is addressed under directed communication graph topology. First, a novel distributed control algorithm is proposed that all the followers nearly converge to the convex hull spanned by the leaders under a directed graph. Second, the transient and steady-state performance of the containment synchronisation errors can be achieved by adopting appropriate predefined technology. Next, a Nussbaum function is utilised to offset the uncertainty of control directions of ELSs. Finally, simulation results are discussed to illustrate the effectiveness of the theoretical analysis.

Suggested Citation

  • Luyan Xu & Chaoli Wang & Xuan Cai & Yujing Xu & Chonglin Jing & Longyan Hao, 2020. "Distributed formation-containment control for multiple Euler–Lagrange systems with guaranteed performance and unknown control directions," International Journal of Systems Science, Taylor & Francis Journals, vol. 51(15), pages 2781-2792, November.
    • Handle: RePEc:taf:tsysxx:v:51:y:2020:i:15:p:2781-2792
    DOI: 10.1080/00207721.2020.1801884
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