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Distributed finite-time tracking algorithm for multiple uncertain Euler-Lagrange systems based on backstepping technique

Based on the backstepping method, this paper investigates the distributed finite-time tracking control problem for Euler-Lagrange systems under directed graph. We consider that only some of the followers can receive information of the dynamic leader. There exist system parametric uncertainties which can be linearized while parameter-linearity property is used to approximate the uncertainties. Backstepping method and Lyapunov stability theory are utilized to prove that the tracking errors and adaptive estimation errors are bounded. Further, the finite-time convergence property of the tracking errors is proved by increasing control gains. Numerical simulations are provided to show the effectiveness of the proposed control algorithm.