Abstract
This paper considers the finite-time cooperative control problem for a multi-agent system composed of multiple heterogeneous Euler-Lagrange systems with parametric uncertainty and a dynamic leader. A distributed finite-time observer is first proposed to estimate the reference signal under a directed topology, and then a finite-time controller is constructed by transforming uncertain Euler-Lagrange systems into second-order systems through a partial design of the controller and utilizing the backstepping-like design procedure. The efficiency of the design is illustrated by simulation.
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