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    This study introduces new control methods for multiple Euler-Lagrange systems, addressing practical formation tracking and zero-error formation tracking despite disturbances and unknown models.

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    Area of Science:

    • Robotics and Control Systems
    • Nonlinear Dynamics
    • Distributed Control Theory

    Background:

    • Formation tracking is crucial for multi-agent systems but challenged by input constraints and model uncertainties.
    • Existing methods often require detailed system models or lack robustness to disturbances.
    • Actuator saturation and power limitations introduce bounded input constraints that must be addressed.

    Purpose of the Study:

    • To develop model-independent distributed control strategies for two formation tracking problems.
    • To address the practical formation tracking (PFT) and zero-error formation tracking (ZEFT) problems for multiple Euler-Lagrange systems.
    • To account for bounded input constraints arising from actuator saturation and power limitations.

    Main Methods:

    • Development of two classes of model-independent distributed control approaches.
    • Application of nonsmooth analysis and Lyapunov stability theory.
    • Derivation of novel criteria for achieving PFT and ZEFT.

    Main Results:

    • Successful derivation of control criteria for both PFT and ZEFT problems.
    • Demonstration of model-independent control effectiveness without prior system model knowledge.
    • Validation of robustness against input disturbances and bounded input constraints.

    Conclusions:

    • The proposed control approaches are effective for achieving formation tracking in multiple Euler-Lagrange systems.
    • Model-independent strategies offer a viable solution when system models are unknown or complex.
    • Numerical simulations confirm the validity and performance of the developed control methods.