Preset-Time Bipartite Tracking Control of Networked Euler-Lagrange Systems

Abstract

This technical note studies the preset-time bipartite tracking problem of networked Euler-Lagrange systems (NELSs) subject to parameter uncertainties on directed signed graphs. Based on some time-varying functions, a hierarchical control algorithm is presented to deal with above-mentioned problem, and the related sufficient conditions on control gains are derived. Simulation example on four intercommunication robotic manipulators is proposed to verify the result.