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A control design based on an asymmetric barrier Lyapunov function is proposed for the leader\u2013follower formation control of Euler\u2013Lagrange systems in the presence of unknown parameters and unmodeled dynamics that progresses to the infinity when its arguments attain to the predefined bounds. These constrained output states are considered in the leader\u2013follower formation control problem to cope with the system restrictions such as limited sensing ranges. The Lyapunov stability is pursued to assure that all the signals of the closed-loop system are bounded and the leader\u2013follower formation errors are finite-time semi-globally uniformly ultimately bounded. Finally, computer simulation results represent the impression of the newly proposed constrained leader\u2013follower formation control for the Euler\u2013Lagrange systems.<\/jats:p>","DOI":"10.1177\/01423312231154625","type":"journal-article","created":{"date-parts":[[2023,2,27]],"date-time":"2023-02-27T08:13:53Z","timestamp":1677485633000},"page":"2524-2539","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":21,"title":["Finite-time velocity-free adaptive neural constrained cooperative control of Euler\u2013Lagrange systems"],"prefix":"10.1177","volume":"47","author":[{"given":"Amir","family":"Naderolasli","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1799-2141","authenticated-orcid":false,"given":"Khoshnam","family":"Shojaei","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran"},{"name":"Digital Processing and Machine Vision Research Center, Najafabad Branch, Islamic Azad University, Najafabad, Iran"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9557-5429","authenticated-orcid":false,"given":"Abbas","family":"Chatraei","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran"},{"name":"Digital Processing and Machine Vision Research Center, Najafabad Branch, Islamic Azad University, Najafabad, Iran"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2023,2,27]]},"reference":[{"key":"e_1_3_2_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2020.02.031"},{"key":"e_1_3_2_3_1","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2018.5802"},{"key":"e_1_3_2_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCNS.2021.3065635"},{"key":"e_1_3_2_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2017.2758743"},{"key":"e_1_3_2_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2015.2504553"},{"key":"e_1_3_2_7_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-012-0215-x"},{"key":"e_1_3_2_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2015.2396044"},{"key":"e_1_3_2_9_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-017-3662-3"},{"key":"e_1_3_2_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2018.2839739"},{"key":"e_1_3_2_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2016.2554621"},{"key":"e_1_3_2_12_1","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2018.5101"},{"key":"e_1_3_2_13_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2020.08.028"},{"key":"e_1_3_2_14_1","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2013.1100"},{"key":"e_1_3_2_15_1","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2018.5480"},{"key":"e_1_3_2_16_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2016.01.064"},{"key":"e_1_3_2_17_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-012-0461-y"},{"key":"e_1_3_2_18_1","doi-asserted-by":"publisher","DOI":"10.1177\/0142331217693918"},{"key":"e_1_3_2_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2018.2794968"},{"key":"e_1_3_2_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2982495"},{"key":"e_1_3_2_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2018.2875559"},{"key":"e_1_3_2_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2019.2892384"},{"issue":"3","key":"e_1_3_2_23_1","first-page":"355","article-title":"Two-axis Gimbal system stabilization using adaptive feedback linearization","volume":"13","author":"Naderolasli A","year":"2020","unstructured":"Naderolasli A, Tabatabaei M (2020) Two-axis Gimbal system stabilization using adaptive feedback linearization. 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