Distributed finite-time coordination control for networked euler-Lagrange systems under directed graphs

The distributed coordination problems for networked Euler-Lagrange systems are investigated in this paper, where both the distributed synchronization control and the distributed containment control are considered. Compared with the existing traditional asymptotically stable control laws, the desired cooperative control objectives of this paper can be realized in finite time, and the estimate of the settling times are explicitly provided. Another distinct feature of our work is that the communication interactions between neighboring agents are unidirectional, which is more practical in real applications. Finally, some simulation results are shown to validate the feasibility of the theoretical schemes.