adaptive-neural constrained cooperative control of euler-lagrange systems

A control design for euler-lagrange systems in the presence of model uncertainties with an output constraint is proposed here. to design a formation control system, an euler-lagrange dynamic model is adopted based on the leader-following strategy. a symmetric barrier lyapunov function (blf), which advances to infinity when its arguments reach a finite limits is applied in preventing the state variables from violating constraints. lyapunov method is adopted to reveal all signals of the closed-loop system which are bounded and the formation tracking errors are semi-globally uniformly ultimately bounded (suub). the computer simulation results demonstrate the efficacy of this newly proposed formation controller for euler-lagrange systems.