Containment control for multiple euler-lagrange systems with parametric uncertainties in directed networks

摘要: In this paper, we study the distributed containment control problem for networked Lagrangian systems with multiple stationary or dynamic leaders in presence of parametric uncertainties under a directed graph that characterizes interaction among and followers. When are stationary, adaptive algorithm is proposed. We present necessary sufficient condition on such all followers converge to convex hull spanned by asymptotically. As byproduct, show leaderless consensus graph. dynamic, two cases considered: i) The have constant vectors generalized coordinate derivatives; ii) varying derivatives. first case, propose continuous estimator algorithm. second combined sliding-mode estimators. both cases, presented