This study investigates the fixed-time bipartite consensus (FTBC) problem for leader–follower nonlinear multi-agent systems (MASs) with nonzero control input for leader and external disturbances. The cooperative–antagonistic relationships between agents are characterized by a structurally balanced signed graph. First, a generalized Lipschitz-type condition is introduced to realize the bipartite consensus of the MASs. A distributed fixed-time controller was then designed to guarantee the FTBC. The upper bound of the convergence time and the su...
