Fixed-time bipartite consensus of nonlinear multi-agent systems with signed directed graph

This work studies the fixed-time bipartite consensus problem of a heterogeneous nonlinear multiagent system over a general signed directed graph. By applying the sliding-mode control method, a discontinuous fixed-time bipartite consensus protocol is designed to drive all agents to reach bipartite consensus within a lixed-time. Moreover, the upper bound of the fixed (settling) time is estimated explicitly without depending on any initial conditions. The effectiveness of the designed bipartite consensus scheme is demonstrated via a simulation example.