Distributed Adaptive Predefined-Time Bipartite Containment Algorithm for Nonlinear Multi-Agent Systems with Actuator Faults

Distributed adaptive predefined-time bipartite containment for a class of second-order nonlinear multi-agent systems are studied with actuator faults. The communication topology of multi-agent systems is fixed and directed. To ensure that followers can reach the convex hull spanned by leaders under the conditions of actuator faults, the sliding mode method is introduced. Control protocol for multi-agent systems demonstrates its effectiveness. Finally, simulations are provided to verify the effectiveness of the proposed algorithm.