Distributed Continuous Finite-Time Containment Control for Euler-Lagrange Systems

In this research, we mainly proposed a distributed containment control algorithm for Euler-Lagrange system, where general disturbances are considered. Also directed topologies are used to describe the leader-following case. First, we introduced the error variables, linear sliding variable, and terminal sliding variable. Then the control algorithm was proposed for the EL system expressed by EL equations. By using the Lyapunov theory and some lemmas, we proved the control errors of the system converge to the original point along the sliding mode. The followers can converge to the convex hull formed by the leaders in finite time.