LAUSR

The fixed-time bipartite containment control for high-order multi-agent systems (MASs) with disturbances is discussed in directed signed graph. The proposed control algorithm guarantees that the trajectories of followers converge into the time-varying geometric space spanned by trajectories of leaders and their opposite trajectories. The settling time is mathematically proved to be dependent only on parameters and independent on the system initial value. On the basis of norm inequality, stability theory and other mathematical analysis, the sufficient condition is given to reach the bipartite containment control. The correctness and efficiency of theoretical results are confirmed via the example.