formation control

opinion dynamics

multi-agent systems

output regulation

nonlinear multi-agent

consensus problem

nonlinear systems

consensus multi-agent

Journal of The Franklin Institute-engineering and Applied Mathematics

This paper considers the fixed-time bipartite consensus of nonlinear multi-agent systems (MASs) subjected to external disturbances . Under the directed signed networks, several sufficient conditions are proposed to guarantee the fixed-time bipartite consensus of MASs with or without leaders, respectively. Some discontinuous control protocols are developed to realize fixed-time tracking bipartite consensus of MASs with a leader. Moreover, the fixed-time leaderless bipartite consensus under directed signed graph are discussed as well. Two numerical examples are given to verify the effectiveness of the theoretical results.

Fixed-time bipartite consensus of nonlinear multi-agent systems under directed signed graphs with disturbances