Formation Control of Euler-Lagrange Systems of Leaders with Bounded Unknown Inputs
Panpan Zhou, Lele Xi, Ben M. Chen · IFAC-PapersOnLine · 2020
In this paper, we study the formation control of multiple Euler-Lagrange systems with nonautonomous leaders, which means the leaders have bounded unknown inputs. Firstly, adaptive distributed observers to the leaders’ input bounds and states are designed for every follower. In addition, a discontinuous function in the adaptive distributed observer is applied to make up for the influence of the leaders’ unknown inputs. Secondly, a distributed control law is constructed using the distributed observer to accomplish the formation control. Our control law achieves not only affine maneuver control but also containment control performance. All agents as a whole can rotate, shear and scale, and maneuver to destination safely.