This paper addresses distributed formation-containment control for networked Euler-Lagrange systems amidst uncertain dynamics, time-varying disturbances, restricted resources and compound constraints. To handle the constraints, constraints on input are solved by transforming saturation into an bounded gain firstly. Then, a Barrier Lyapunov function (BLF) is introduced to limit output state errors agents tackle Moreover, in consideration of energy inherent each agent, we have developed novel...

This study addresses a fixed-time generalized noncooperative game involving multiple unmanned aerial vehicles (UAVs) that encounter challenges such as discontinuous communication and external disturbances. Each UAV, motivated by selfinterest, seeks to optimize its performance function adjusting actions within shared equality inequality constraints. To facilitate this, Nash equilibrium (GNE) seeking algorithm is proposed for games with constraints, incorporating an internal dynamic system...

Abstract This article focuses on fixed‐time consensus of networked Euler–Lagrange systems (NELSs) over event‐based communication under denial‐of‐service (DoS) attacks. First all, a basic algorithm is developed for NELSs, where general triggering scheme through error decomposition method designed decreasing frequencies while avoiding singularity. Then, to fulfil the problem NELSs in presence DoS attacks, novel resilient further presented by algorithm, effective attack interval redefined...

This paper studies noncooperative game of distributed quadrotor unmanned aerial vehicles (UAVs) under task, communication and physical constraints. Compared to existing works that primarily focus on the flight task Nash equilibrium seeking without constraints or only with equality constraints, this study considers inequality To enhance privacy UAVs communications, Markov jump networks are introduced as increase stochasticity system all agents can search by sharing virtual information....

Abstract This article is concerned with the fixed‐time fault‐tolerant control problem of multiple Euler–Lagrange systems (MELSs) intermittent communication, actuator faults and input disturbances. A nonsingular framework three parts built for above problem. In first part, a novel adaptive controller proposed MELSs to ensure stability sliding modes while successfully solving faults, parameter uncertainties unknown second estimators based on event‐triggered communication are designed by an...

Abstract The finite‐time nonlinear placement problem of networked Euler‐Lagrange systems (NELSs) is discussed in this paper. reformulated into a aggregate game under an undirected graph. Then, several novel practical gradient‐based hierarchical (GFTH) algorithms composed layer, Nash equilibrium (NE) seeking and control layer are proposed. Specifically, the employs function to reach consensus on potential value which adopted by method tackle NE then, tracking realized layer. convergence...

Abstract This article investigates the distributed Nash equilibrium seeking problem of quadratic time‐varying games with Euler–Lagrange (EL) players, where external disturbances and parametric uncertainties are involved. A gradient‐based hierarchical algorithm consisting a game layer control is proposed. Specifically, in layer, EL players communicate neighbors through graph to reach consensus on potential aggregate values, which will be employed calculate gradient each player's objective...

Abstract This paper is concerned with the fixed-time formation-containment control (FTFCC) problem for networked Euler-Lagrange systems (NELSs) unknown dynamics and disturbances. A systematically adaptive scheme established to address above problems. Specifically, reduce controller update frequency conserve resources, a novel FTFCC algorithm via event-triggered mechanism firstly designed drive some agents named as leaders form specific configuration, simultaneously others followers are...

This paper investigates the task-space fixed-time tracking control problem of networked Euler-Lagrange systems in presence uncertain kinematics and dynamics under directed graphs. First, a distributed sliding mode estimator is developed to estimate desired states each robot fixed- time. Moreover, novel algorithm which consists law, kinematic dynamic parameter adaptive law designed address aforementioned with nonredundant redundant unknown upper bound disturbance. It shown by Lyapunov...