Distributed adaptive finite-time fault-tolerant formation-containment control for networked Euler–Lagrange systems under directed communication interactions

Abstract

This paper addresses the finite-time formation-containment control problem for multiple Euler–Lagrange systems with actuator faults and input saturations subject to external disturbances and nonlinear uncertainties under directed communication interactions. Systematic procedures on how to synthesize a distributed control scheme are developed based on adaptive backstepping control, fault-tolerant control, dynamic gain control and finite-time control such that leaders form a desired geometric configuration while tracking the virtual leader, and followers converge to the convex hull spanned by the leaders during a finite-time period with sufficient accuracy. Two auxiliary systems are constructed to facilitate the control scheme design. Finite-time convergence and ease of computation burden in the sense of not using fractional powers of cooperative error information are realized by integrating dynamic gain control, finite-time control and one auxiliary system. Actuator faults, control input saturations, external disturbances and nonlinear uncertainties are coupled together and dealt with by adaptive backstepping control, fault-tolerant control and the other auxiliary system. In the end, the effectiveness of the proposed control scheme is verified with simulation results.