Preassigned-Time Bipartite Flocking Consensus Problem in Multi-Agent Systems

This article is concerned with the bipartite flocking problem in multi-agent systems. Our contributions can be summarized as follows. Firstly, a class of preassigned-time consensus protocols proposed to solve issue Secondly, aid symmetric properties graph theory and Lyapunov stability theorem, we prove that agents divided into two disjointed clusters finite time, they move opposite directions at same magnitude speed. The protocol novel among existing fixed/finite-time associated settling time preassigned constant parameter protocol. Moreover, it proven diameters are bounded independent other parameters. These results demonstrated through both theoretical analysis simulation examples.