Predefined-Time Bipartite Time-Varying Formation Tracking of Multiple Euler–Lagrange Systems via Estimator-Based Hierarchical Control Algorithm

This brief investigates the predefined-time bipartite time-varying formation tracking (PTBTVFT) problem of Euler-Lagrange systems (ELSs) with external disturbances under a signed digraph, where the directed topology contains cooperative and antagonistic interactions. Firstly, estimator-based hierarchical control (EBHC) algorithm is proposed to handle the above problem. It is worth noting that the settling time can be randomly predetermined according to practical demands. Then, by Lyapunov stability analysis, some sufficient conditions are derived for the realization of the PTBTVFT. Finally, simulation experiments are performed to confirm the feasibility of the developed control strategy.