This work handles multi-group time-varying formation tracking (MGTVFT) problem for networked Euler–Lagrange systems (NELSs) within predefined time. It is worth noting that exogenous disturbances and indeterminate dynamic components are considered. To tackle the above-mentioned matter, a predefined-time estimator-based hierarchical control (PTEBHC) protocol is proposed. The settling time analyzed in this study is independent of control parameters and initial conditions, which can be provided arbitrarily in the light of the actual needs. The completion of the MGTVFT within a predefined time using the Lyapunov stability analyses can be achieved. Eventually, the simulation results authenticate the efficaciousness of the constructed control schemes.
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