Distributed formation-containment control for multiple Euler–Lagrange systems with guaranteed performance and unknown control directions. Issue 15 (17th November 2020)

• Record Type: Journal Article
• Authors: Xu, Luyan; Wang, Chaoli; Cai, Xuan; Xu, Yujing; Jing, Chonglin; Hao, Longyan
• Is Part Of: International journal of systems science. Volume 51:Issue 15(2020)
• Page Start: 2781
• Page End: 2792
• Publication Date: 2020-11-17
• Subjects: Distributed formation-containment control -- Euler–Lagrange systems -- predefined technique -- Nussbaum gain technique; System analysis -- Periodicals; 003.3
• DOI: 10.1080/00207721.2020.1801884
• Languages: English
• ISSNs: 0020-7721

Abstract

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.