Distributed formation-containment control for multiple Euler–Lagrange systems with guaranteed performance and unknown control directions
Luyan Xu, Chaoli Wang, Xuan San Cai, Yujing Xu, Chonglin Jing, Longyan Hao · International Journal of Systems Science · 2020
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.