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.