Two-layer distributed formation-containment control of multiple Euler-Lagrange systems with unknown control directions.

This paper addresses the distributed formation containment control problem of Euler–Lagrangian systems(ELSs) with unknown control directions by two layers, namely, time-varying formation for the leaders and containment formation control for the followers. We first estimate the desired states and velocities for the leaders and the followers in finite time. Second, novel adaptive neutral networks are used to compensate the model uncertainties. Third, using the Nussbaum gain technique, the proposed control laws can guarantee the ultimate convergence of error signals to zero and that all of the signals in the closed-loop system are bounded. Finally, simulation examples are given to demonstrate the effectiveness of the proposed method.