Fixed-time synchronization of networked uncertain Euler–Lagrange systems

This paper considers the fixed-time control problem of a multi-agent system composed class Euler–Lagrange dynamics with parametric uncertainty and dynamic leader under directed communication network. A distributed observer is first proposed to estimate desired trajectory then robust controller constructed by transforming uncertain systems into second-order utilizing backstepping design procedure. The overall guarantees that synchronization errors converge zero in fixed time independent initial conditions. conditions can also be relaxed for weaker finite-time requirement.