A fixed-time bipartite flocking protocol was proposed in a paper titled by ‘note on the fixed-time bipartite flocking for nonlinear multi-agent systems’. Although effective and comprehensive, there exists irrigorousness in derivation for the protocol. In this paper, we aim at improving the derivation of protocol proof to ensure fixed-time bipartite flocking is achieved. Moreover, it is also found that it is irrigorous in terms of choice of protocol parameters in Xiao et al. [(2020). A note on the fixed-time bipartite flocking for nonlinear multi-agent systems. Applied Mathematics Letters, 99, 105973]. To overcome the shortcomings, an alternative control protocol is presented to solve fixed-time bipartite flocking problem of multi-agent systems in this paper. Finally, by numerical simulation, we illustrate that the choice of power parameter should be improved at some extent, also the validity of the alternative protocol is verified by numerical simulation.

在一篇题为“关于非线性多智能体系统的固定时间二部植绒的注释”的论文中提出了一种固定时间二部植绒协议。虽然有效且全面，但该协议的推导存在不严谨之处。在本文中，我们旨在改进协议证明的推导，以确保实现固定时间的二分集群。此外，Xiao 等人在协议参数的选择上也发现了不严谨的做法。[（2020）。关于非线性多智能体系统的固定时间二部植绒的注释。应用数学快报，99, 105973]。为了克服这些缺点，本文提出了一种替代控制协议来解决多智能体系统的固定时间二部植绒问题。最后通过数值模拟说明了功率参数的选择在一定程度上需要改进，并通过数值模拟验证了替代协议的有效性。