''intend to'' can be used only for expressing intention to do something, so it cannot be used with past tense verb. Intend to have come is grammatically wrong.

"He intended to have come to see you" means he had the idea of coming to see you in mind before. But he did not see you. He had intended to come to see you. " means he had already decided to come to see you. hope this helps.

There's no difference between the actual meaning of the sentences. But always remember: If you can make it simpler, and still communicate your idea correctly, do it! Being articulate is not having the ability to express yourself with large or difficult words, but being able to express yourself in the most understandable manner. Many times, the most natural sounding expression is the simpler expression. "He intended to come see you," sounds the most natural.

"He intended to have come to see you" is very awkward and doesn't make much sense. "He had intended to come to see you," is a little better. However, "He had intended to come see you" flows the best and makes the most sense. To intend to do something is the same as having a wish or a desire to follow through with something. So, "He wished to come see you" and "He desired to come see you" or simply just "He wanted to come see you," all express the same idea.