# Predefined-Time Bipartite Time-Varying Formation Tracking of Multiple Euler–Lagrange Systems via Estimator-Based Hierarchical Control Algorithm

> Research article (IEEE Transactions on Circuits & Systems II Express Briefs, 2023) · cited 19× · AI/ML

**Wikidata**: [openalex:W4361801707](https://www.wikidata.org/wiki/openalex:W4361801707)  
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