Fixed-time synchronization of networked uncertain Euler-Lagrange systems (Q2097725)

Fixed-time control for multi-agent systems, requiring exact achievement of a collective behavior in a fixed time independent of initial conditions, or finite-time control of a weaker requirement allowing the achievement time dependent on initial conditions, has attracted researchers' extensive attention due to its potential advantages in transient performance and robustness property. This paper has proposed the fixed-time robust control design for the synchronization problem of networked Euler-Lagrange systems based on a distributed observer, which is capable of estimating the desired trajectory of the leader in a fixed time under a directed graph. The heterogeneous uncertain Euler-Lagrange systems are converted into second-order systems by a partial design of the control law, and then the backstepping procedure for second-order systems are utilized to accomplish the fixed time control design.