Practical Prescribed-Time Bipartite Time-Varying Formation Control for Multiagent Systems With Adaptive Self-Triggered

This paper investigates the problem of practical prescribed-time fuzzy bipartite time-varying formation control for nonlinear multiagent systems. To achieve practical prescribed-time control, a bounded and continuous prescribed-time evolution function is constructed, and a new stability lemma is derived, proving that the proposed controller avoids singularities and ensures synchronization errors converge to a neighborhood independent of initial conditions within the prescribed time. Considering cooperative-competitive interactions among the agents, a fuzzy bipartite time-varying formation controller is designed to achieve formation control within a specified time while keeping all closed-loop signals bounded. Furthermore, to reduce communication costs, an adaptive self-triggered mechanism is introduced. This mechanism maps the prescribed time to a dynamic triggering function, enabling the controller to adjust triggering conditions based on the user-defined convergence time, thereby balancing speed and communication costs. Finally, the effectiveness of the proposed method is validated through a simulation case involving five unmanned ground vehicles.