Formation control for uncertain multiple Euler-Lagrange systems with dynamic surface control and interval type-2 neuro-fuzzy networks

This paper presents a distributed adaptive formation control method for a class of uncertain multiple Euler-Lagrange systems. The proposed approach is based on the graph theory and an adaptive dynamic surface control, where the system uncertainties are approximately modelled by interval type-2 neuro-fuzzy networks. In this study, the robust stability of the closed-loop system is guaranteed by the Lyapunov theorem, and all agents reach a desired formation following a designated trajectory. In addition to simulation example, the proposed method is applied to each agents of Euler-Lagrange dynamics for performance evaluations. Simulation results indicate that the proposed control scheme has superior responses compared to distributed dynamic surface formation control.