Hi @Muthu Sethu , thank you for reaching out to us.
I have reviewed the query and I understand that you would like to enable the SSO for the on premises ubuntu machines by integrating them with Azure AD.
I am afraid, but we do not have a direct way to achieve this ask. However, we do have options to integrate the devices with Azure AD but that is limited to Windows machines for now.
Ref.: https://learn.microsoft.com/en-us/azure/active-directory/devices/concept-azure-ad-register
If you would like to join the on-premise Linux devices to use Azure AD , you can enable Azure AD domain Services on your tenant , and setup a azure site to site VPN with the same azure VNET which is hosting the Azure AD domain Services managed domain and then use the following articles to join the Linux OS . The following article is written taking into consideration Ubuntu OS however , i believe you should be able to use same instructions on other Linux versions as well with maybe some additions/slight modifications of commands as per the package availability on different distributions.
However, if the Linux machines are deployed in Azure, you can also check the below article:
https://learn.microsoft.com/en-us/azure/virtual-machines/linux/login-using-aad
-Sagar
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