Containment Coordination Control for Networked Euler-Lagrange Systems with Unknown Nonlinear Dynamics

This article addresses the containment control for multiple Euler-Lagrange (EL) systems with unknown nonlinear dynamics under directed graphs, where the dynamic systems about the leader agents and the follower agents are heterogeneous. Due to the limited communication conditions, many follower agents cannot obtain information of leader agents directly, so the states of all followers are compensated by using a compensator. On this basis, a new adaptive control scheme is proposed under directed networks. Ultimately, a simulation example verifies the effectiveness of the theoretical results.