Finite-time velocity-free adaptive neural constrained cooperative control of Euler-Lagrange systems

This paper addresses a new constrained control design problem to develop the trajectory-tracking specifications of the cooperative control of Euler-Lagrange systems with respect to the convergence rate and steady-state errors by constraining the limited bounds on the trajectory-tracking errors in the leader-follower formation control problem. A control design based on an asymmetric barrier Lyapunov function is proposed for the leader-follower formation control of Euler-Lagrange systems in the presence of unknown parameters and unmodeled dynamics that progresses to the infinity when its arguments attain to the predefined bounds. These constrained output states are considered in the leader-follower formation control problem to cope with the system restrictions such as limited sensing ranges. The Lyapunov stability is pursued to assure that all the signals of the closed-loop system are bounded and the leader-follower formation errors are finite-time semi-globally uniformly ultimately bounded. Finally, computer simulation results represent the impression of the newly proposed constrained leader-follower formation control for the Euler-Lagrange systems.