Cooperative Control of a Group of Euler-Lagrange Systems Using Adaptive Multilayer Neural Control in the Presence of Output State Constraints

Amir Naderolasli ¹ ( Department of Electrical Engineering- Najafabad Branch, Islamic Azad University, Najafabad, Iran )
Khoshnam Shojaei ² ( Digital Processing and Machine Vision Research Center- Najafabad Branch, Islamic Azad University, Najafabad, Iran )
Abbas Chatraei ³ ( Smart Microgrid Research Center- Najafabad Branch, Islamic Azad University, Najafabad, Iran )

Submited date : 2022-11-13 Accepted date : 2023-03-11

Keywords: Back-stepping control, Euler-Lagrange systems, formation control, leader-follower, output-constraints,

Abstract :

In this paper, a constrained formation control design is implemented for a group motion of systems based on the Euler-Lagrange dynamics in the presence of model uncertainties and un-modeled dynamics with considering the output state constraints. To design a constrained formation control system, a dynamic model with respect to the Euler-Lagrange based on leader-follower structure is utilized. To solve the constrained problem of these systems, a Barrier Lyapunov Function (BLF) is applied that advances to infinity when its arguments reach to the finite bounds, in which is applied in the control design. This feature of BLFs is applied to prevent the violation of state variables from the constrained boundaries and restrict the errors of these states in the predetermined and limited bounds. Thus, the Lyapunov stability method is adopted to reveal all the signals of the closed-loop system that are bounded and the stability of formation problem is proved as semi-globally uniformly ultimately bounded (SGUUB). The computer simulation results demonstrate the efficacy of this leader-follower formation controller for systems based on the Euler-Lagrange dynamics.