# Task-space multiple-bipartite consensus for networked heterogeneous Euler–Lagrange systems via hierarchical predefined-time control algorithm

> Research article (Nonlinear Dynamics, 2023) · cited 14× · AI/ML

**Wikidata**: [openalex:W4384662566](https://www.wikidata.org/wiki/openalex:W4384662566)  
**Source**: https://4ort.xyz/entity/task-space-multiple-bipartite-consensus-for-networked-heterogeneous-eulerlagrange-systems-via-hierarchical-predefined-ti