Based Fixed-Time Bipartite Output Consensus Tracking for Fuzzy Adaptive Nonlinear Coopetition MASs

This paper investigates the problem of fuzzy adaptive fixed- time bipartite output consistent tracking for nonlinear cooperative/competing multi-agent systems (MASs) under directed graphs. The control scheme utilizes a fuzzy logic system (FLS) to approximate the unknown nonlinear dynamics. Within the framework of fixed-time stability theory and adaptive backstepping recursive design, a fuzzy adaptive fixed-time bipartite output consistent control method is proposed. To enhance tracking performance, a Lyapunov function based on the transformation error constraints of the fixed-time prescribed performance function (FTPPF) is introduced. The control scheme is designed to ensure that bipartite consensus tracking errors converge within a predefined boundary in a fixed-time. Moreover, the fixed-time stability of the closed-loop system is established by constructing the Lyapunov function. Finally, the feasibility and effectiveness of the proposed adaptive bipartite output consistent control method are validated through numerical simulation examples.