Structure-free containment control for uncertain underactuated multiple Euler-Lagrange systems  

作　　者：Housheng SU Yali WU Liren ZHANG Xia CHEN 

机构地区：[1]Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China,School of Artificial Intelligence and Automation,Huazhong University of Science and Technology,Wuhan 430074,China [2]State Key Laboratory of Advanced Electromagnetic Engineering and Technology,School of Electrical and Electronic Engineering,Huazhong University of Science and Technology,Wuhan 430074,China

出　　处：《Science China(Information Sciences)》2023年第11期146-164,共19页中国科学（信息科学）（英文版）

基　　金：supported in part by National Natural Science Foundation of China(Grant Nos.61991412,62273159,U22A6007);rogram for HUST Academic Frontier Youth Team(Grant No.2018QYTD07)。

摘　　要：This article studies the problem of structure-free distributed containment control for uncertain underactuated multiple Euler-Lagrange systems(MELSs)considering disturbances by using a layered approach.First,the second layer is the virtual layer constructed artificially for hierarchical control.We move all virtual nodes to the convex hull formed by leaders in the first layer by implementing containment control algorithms on all virtual nodes.Then,the third layer is the following layer,and we propose an adaptive robust tracking controller to ensure that each follower in the third layer tracks the corresponding virtual node in the second layer.So far,the underactuated MELSs can achieve containment control.Furthermore,through the theoretical derivation,sufficient conditions are obtained to achieve the objective of structure-free containment control.Finally,the effectiveness of the proposed stratified structure-free containment control method is verified by a simulation example.

关 键 词：Euler-Lagrange systems underactuated system containment control adaptive-robust control 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]