  In bipartite consensus tracking (BCT) tasks for nonlinear multiagent systems,
stochastic disturbances and actuator faults are regarded as essential factors
that hamper effective controller formulation and tracking precision
improvement. To address these difficulties, we design an improved finitetime
performance function (FTPF) for a fuzzy fault-tolerant distributed cooperative
control scheme to achieve finite-time robust precision BCT tasks for nonlinear
multiagent systems. The parameter selection range of the improved FTPF is
relaxed, which renders systems to achieve better transient performance.
Benefitting from stochastic Lyapunov stability theory, it is shown that all
signals of systems are semi-global uniformly ultimately bounded in probability,
and bipartite consensus errors can satisfy the arbitrary precision with
probability in the predefined time. Finally, to verify its effectiveness, the
proposed control scheme is applied to BCT tasks of a group of vehicles, which
manifests anticipated control performance under various uncertainties.
