Adaptive Fuzzy Practical Predefined-Time Bipartite Consensus Tracking Control for Heterogeneous Nonlinear MASs With Actuator Faults

This article focuses on the adaptive fuzzy practical predefined-time bipartite consensus tracking control (BCTC) problem for heterogeneous nonlinear multiagent systems (HNMASs) with actuator faults. First, the fuzzy logic systems are used to approximate the unknown nonlinear functions. Then, the partial loss of effectiveness and bias fault of actuator are considered simultaneously in the HNMASs, which is effectively handled by using adaptive compensation technology. In addition, the developed bipartite consensus tracking control protocol based on a practical predefined-time strategy not only ensures the fast convergence of the studied systems, but also predetermines the convergence time not relied on the initial conditions. The theoretical result shows that all signals of the closed-loop system are semiglobally uniformly predefined-time bounded, and the BCTC performance is guaranteed within the predefined time. Finally, the simulation example based on the agents of different orders shows the validity of the obtained results.