Prescribed-Time Bipartite Consensus of High-order Multi-Agent Systems Based on Barried Lyapunov Function

This study addresses the prescribed-time bipartite consensus problem of higher-order heterogeneous multi-agent systems (HMASs). Firstly, a bipartite consensus protocol is designed to enable all agents to achieve bipartite consensus. Secondly, based on the barrier lyapunov function (BLF), a prescribed-time algorithm is developed to ensure that bipartite consensus among all agents is reached within a prescribed-time. The convergence time of this algorithm is independent of initial conditions and parameters. Concurrently, the consensus error is constrained to satisfy predefined conditions. The effectiveness of the proposed control method is ultimately validated through numerical simulations.