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Predefined-time-synchronized bipartite formation control for networked heterogeneous Euler–Lagrange systems

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  • Ma, Li
  • Zhu, Fanglai

Abstract

This paper intends to address the predefined-time-synchronized (PTS) bipartite time-varying formation (BTVF) tracking control issue of networked heterogeneous Euler–Lagrange systems (NHELSs) with unknown disturbance. In contrast to prior formation control schemes, the considered PTS strategy aims to drive all state components of the NHELS task-space converge into the equilibrium at the same time, with the synchronized settling time being predefined in advance. An improved hierarchical control strategy, including a distributed estimator layer and a local control layer, is presented to achieve this performance. The distributed estimator layer is tasked with estimating the desired state vectors. The local control layer first involves a novel predefined-time algebraic reconstruction approach to reconstruct the unknown disturbance. Then, given the combination of the switching sliding-mode technique and norm-normalized sign function, a singularity-free control law is proposed to achieve the PTS BTVF control. Finally, simulations and comparisons on two and three degrees-of-freedom manipulators are carried out to testify the feasibility and superiority of the theoretical results.

Suggested Citation

  • Ma, Li & Zhu, Fanglai, 2026. "Predefined-time-synchronized bipartite formation control for networked heterogeneous Euler–Lagrange systems," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 247(C), pages 705-721.
    • Handle: RePEc:eee:matcom:v:247:y:2026:i:c:p:705-721
    DOI: 10.1016/j.matcom.2026.03.038
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    References listed on IDEAS

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    1. Zeghlache, Samir & Rahali, Hilal & Djerioui, Ali & Benyettou, Loutfi & Benkhoris, Mohamed Fouad, 2024. "Robust adaptive backstepping neural networks fault tolerant control for mobile manipulator UAV with multiple uncertainties," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 218(C), pages 556-585.
    2. Elahi, Arezou & Alfi, Alireza & Chadli, Mohammed, 2024. "Fixed-time consensus control for uncertain heterogeneous multi-agent systems with high-order dynamics and time-varying delay under generic topologies," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 225(C), pages 111-128.
    3. Xu, Ning & Tang, Li & Al-Barakati, Abdullah A., 2026. "Fixed-time optimal bipartite containment fault-tolerant control for multi-agent systems under multiple faults and saturated actuation," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 245(C), pages 242-259.
    4. Zhao, Xiao-Wen & Deng, Dong-Dong & Ge, Ming-Feng & Liu, Zhi-Wei, 2024. "Neural adaptive predefined-time formation tracking control of multiple Euler–Lagrange systems with switching topologies based on hierarchical mechanism," Chaos, Solitons & Fractals, Elsevier, vol. 178(C).
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