Predefined Output Containment for Heterogeneous Euler-Lagrange Systems with Multiple Uncertain Nonidentical Leaders

This paper discusses the robust predefined output containment (RPOC) control problem for heterogeneous Euler-Lagrange systems having multiple uncertain nonidentical lead-ers. In order to solve this problem, a new kind of distributed observer-based robust predefined output containment control framework is presented. Firstly, for obtaining the information of nonidentical leaders' dynamics including uncertain parameters in leaders' system matrices and states, two kinds of adaptive observes are constructed in a fully distributed form without any knowledge of the system matrices of nonidentical leaders, exactly. Secondly, on the basis of adaptive learning technique, a new RPOC controller is then developed by using the presented observers. Furthermore, with help of Lyapunov stability theory, the RPOC criteria for the considered system under multiple uncertain nonidentical leaders are derived from the constructed controller. At last, a simulation example is provided to demonstrate the effectiveness of the proposed RPOC controller.