Distributed adaptive dynamic surface containment control for uncertain multiple Euler-Lagrange systems

This paper investigates the distributed containment control for a class of uncertain multiple Euler- Lagrange systems. A directed graph is used to characterize the interactions among the leaders and followers. The proposed approach is based on an adaptive dynamic surface control, where the system uncertainties are approximately modelled by interval type-2 fuzzy neural networks. The adaptive laws of neuro-fuzzy parameters are derived from the Lyapunov stability analysis. The robust stability of the closed-loop system is guaranteed, and then all followers can converge into the convex hull spanned by the dynamic leaders. In this study, a systematic control scheme is proposed and several indexes are used for performance comparisons. Simulation results are also provided to reveal the superiority of the proposed distributed adaptive containment controller.