Observer-Based Output Feedback Containment Control for Multiple Euler-Lagrange Systems

This paper investigates output feedback containment control problem for multiple Euler-Lagrange systems based on finite-time observer. By considering the states of leaders are only available to part of followers and leaders are dynamic, generalized velocity observers and distributed adaptive control laws are designed for multiple Euler-Lagrange systems when the generalized velocity cannot be obtained directly. By using the graph theory and stability analysis, it is demonstrated that followers will converge asymptotically to the convex hull formed by the leaders. Finally, numerical simulations are given to illustrate the effectiveness of proposed observers and control schemes.