Task-space time-varying formation tracking for networked heterogeneous Euler–Lagrange systems via hierarchical predefined-time control approach.

This paper studies the task-space predefined-time time-varying formation tracking (TVFT) problem in networked heterogeneous Euler–Lagrange systems (NHELSs) subject to parametric uncertainties and external disturbances. A novel hierarchical predefined-time control algorithm based on the use of non-singular terminal sliding mode control method is proposed, which can achieve the TVFT with digraphs in a predefined time. In this way, the settling time can be predetermined arbitrarily in advance as a control parameter. By virtue of the Lyapunov stability and the nearest neighbor-interactions rules, some sufficient criteria for realizing the task-space predefined-time TVFT of the NHELSs are obtained. Eventually, numerical simulation results are provided to demonstrate the effectiveness of the provided results. [ABSTRACT FROM AUTHOR]