Adaptive fixed-time prescribed performance control for nonlinear heterogeneous high-order multi-agent systems

This paper is intended to realise fixed-time prescribed performance consensus tracking for nonlinear high-order heterogeneous multi-agent systems(HMASs) in the presence of actuator faults. To deal with this issue, an adaptive prescribed performance fixed-time control method is designed for enhancing the control performance. Specifically, an improved performance function is introduced, where initial range and convergence speed are modifiable as needed. Contrary to the existing results, the designed function makes control process better meet the practical requirements by adjusting parameters, which can constrain error range. On the basis of adding a power integrator method, the adaptive fixed-time consensus control strategy is investigated for high-order HMASs, which ensures all followers can track synchronously the reference signal in fixed time. The practicability of the presented control scheme is validated by the simulation results.