The existing studies on prescribed-time control cannot directly deal with nonlinear functions which don’t satisfy Lipschitz growth conditions. No results are available for prescribed-time containment control of pure-feedback UNMASs with prescribed performance. Therefore, completely unknown nonlinear function, prescribed-time tracking of system states and prescribed performance of containment errors are simultaneously considered in this paper. Fuzzy logic systems are utilized to approximate completely unknown nonlinear function. Prescribed-performance function is introduced and further incorporated into a novel speed function. Combining the proposed speed function and barrier Lyapunov function, this article presents a novel adaptive fuzzy prescribed-time containment control method which can guarantee, under prescribed performance, all followers converge to a convex formed by dynamic leaders in a prescribed time. Moreover, all tracking errors converge to predefined regions in a prescribed time. The effectiveness of the proposed prescribed-time containment control method are confirmed by strict proof and simulation.

现有的规定时间控制研究不能直接处理不满足Lipschitz增长条件的非线性函数。没有结果可用于按规定性能对具有规定性能的纯反馈UNMAS进行控制。因此，本文同时考虑了完全未知的非线性函数，系统状态的规定时间跟踪和遏制误差的规定性能。模糊逻辑系统用于近似完全未知的非线性函数。引入了规定的性能函数，并将其进一步合并到一种新颖的速度函数中。结合提出的速度函数和屏障李雅普诺夫函数，本文提出了一种新颖的自适应模糊规定时间约束控制方法，该方法可以保证在规定的性能下，所有跟随者在规定的时间内会聚到由动态领导者形成的凸面中。而且，所有跟踪误差在规定的时间内收敛到预定区域。通过严格的证明和模拟，证实了所提出的规定时间遏制控制方法的有效性。