Containment control of multiple uncertain Lagrangian systems
Yi Dong, Shengyuan Xu · 2016
This paper studies containment control of multiple Lagrangian systems with parametric uncertainties by proposing a fully distributed continuous control law based on the improved self-tuning adaptive observer inspired by non-identifier-based high-gain adaptive control technique. This control law, depending neither on any information of leader system for uninformed followers, nor on neighbor's velocity, can achieve asymptotic convergence of the containment error instead of ensuring its ultimate boundedness as in existing works. Under this self-tuning adaptive distributed continuous control law, a group of Lagrangian systems are driven to the convex hull spanned by multiple heterogenous dynamic leaders, which can be a combination of step signals of arbitrary magnitudes, ramp signals of arbitrary slopes, and sinusoidal signals of arbitrary unknown amplitudes and initial phases, and any frequencies.