LAUSR

This paper considers the fixed-time bipartite output consensus of heterogeneous multi-agent systems under a directed signed graph. Firstly, in combination with the fixed-time theory and event-triggered mechanism, a fixed-time event-triggered observer is designed to estimate the leader’s state. Secondly, a dynamic variable is used to present the triggering condition, and the analytical results show that the Zeno behavior can be excluded by choosing some appropriate parameters. Moreover, a distributed fixed-time control protocol is developed based on the designed observer so that all agents can achieve bipartite output consensus in a fixed-time. Some sufficient criteria for output bipartite consensus are obtained based on inequality techniques and Lyapunov stability theory. Finally, a numerical example is employed to verify the validity of the theoretical results.