This paper addresses the robust finite-time and fixed-time bipartite consensus problems for multi-agent systems under the signed graphs. A unified discontinuous control protocol is constructed to achieve both finite-time bipartite consensus (FINBC) and fixed-time bipartite consensus (FIXBC) only by adjusting the parameters, regardless of whether the signed graph is structurally balanced or unbalanced. By using discontinuous techniques, some simple sufficient conditions for FINBC/FIXBC are provided; moreover, the upper bounds of the settling times are explicitly estimated. Simulations show that the proposed control protocols are effective.

中文翻译：

---

基于不连续协议的多智能体系统的鲁棒有限时间和固定时间二部共识问题

本文解决了签名图下多智能体系统的鲁棒有限时间和固定时间二分共识问题。构建一个统一的不连续控制协议，无论签名图结构平衡还是不平衡，仅通过调整参数即可实现有限时间二分共识（FINBC）和固定时间二分共识（FIXBC）。通过使用不连续技术，为 FINBC/FIXBC 提供了一些简单的充分条件；此外，稳定时间的上限是明确估计的。仿真表明所提出的控制协议是有效的。