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

Luyan Xu, Chaoli Wang, Xuan Cai, Yujing Xu, Chonglin Jing and Longyan Hao

International Journal of Systems Science, 2020, vol. 51, issue 15, 2781-2792

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.

Date: 2020
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DOI: 10.1080/00207721.2020.1801884

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