Robust adaptive formation compensation control of coupled Euler-Lagrange systems

This article investigates the position formation tracking control approach for coupled Euler-Lagrange (EL) systems against state-dependent internal uncertainties and bounded external disturbances. Adaptive compensation and estimation techniques are provided to approximate the unknown effects of uncertainties and exogenous disturbances. Therefore, distributed formation control schemes based on adaptive estimations are investigated to withstand the negative influences of uncertainties and disturbances, and the bounded formation results of the coupled EL systems are achieved in terms of Lyapunov stability theorem. Further, the results are improved to finite-time formation by modifying the adaptive distributed formation control schemes. Theoretical analysis shows that under the designed control policy, the formation tracking errors are driven to ultimately reside within a small error region in finite time. The designed control schemes are substantiated with simulations of coupled quadrotor aircrafts.