Predefined‐time hierarchical control for bipartite time‐varying formation tracking of networked Euler–Lagrange systems with parametric uncertainties

This paper mainly addresses the bipartite time‐varying formation tracking (BTVFT) problem for networked Euler–Lagrange systems (NELSs) with external disturbances and parametric uncertainties, considering a directed signed communication network that encompasses both cooperative and competitive interactions. A novel nonsingular sliding mode control (SMC) method serves as the foundation for a predefined‐time hierarchical control algorithm (PTHCA), introduced to tackle the BTVFT challenge for NELSs in a predefined time. This approach enables the settling time to be predetermined as a control parameter. Moreover, sufficient conditions for establishing the predefined‐time stability of closed‐loop systems are provided based on the Lyapunov argument. Simulations are conducted to demonstrate the effectiveness of the main findings.