Distributed finite-time tracking control for multiple uncertain Euler-Lagrange systems with error constraints

In this paper, the distributed finite-time error constrained tracking control for multiple uncertain Euler-Lagrange systems is investigated under directed topology. We consider that the information of the dynamic leader is available to only a portion of the followers. First, for each follower, the error variable relating to the states of the neighbours is designed. Then, by using backstepping method, a distributed finite-time tracking control algorithm is developed with the neural network being utilizsd to estimate the model uncertainties. A tan-type barrier Lyapunov function is used to guarantee that the error variables will not exceed the prescribed bounds. Finite-time stability of the systems is demonstrated by Lyapunov theory and graph theory. Numerical simulations show the advantages of the proposed control strategy by comparisons with the existing methods.