Performance-guaranteed prescribed-time bipartite consensus of networked Lagrangian agents with bounded inputs and signed digraphs

Abstract

In this paper, two kinds of hierarchical time-limited control (HTLC) algorithms with the ability to avoid singularities and simple parameter setting rules are proposed to achieve the bipartite consensus of Networked Lagrange Agents (NLAs), where each agent refers to external disturbances, dynamics uncertainties and bounded inputs. Each HTCL algorithm includes time-limited estimator and prescribed-time local controller. Specially, the HTCL algorithm is developed by combining error transformation and prescribed-time sliding surface. We formally demonstrate that all the states approach the neighborhood of the origin within the prescribed-time, where the settling time can be set only by selecting one parameter. The numerical examples verify the theoretical result.