# Finite-time and fixed-time bipartite consensus of multi-agent systems under a unified discontinuous control protocol

> Research article (Journal of the Franklin Institute, 2017) · cited 77× · AI/ML

**Wikidata**: [openalex:W2765669521](https://www.wikidata.org/wiki/openalex:W2765669521)  
**Source**: https://4ort.xyz/entity/finite-time-and-fixed-time-bipartite-consensus-of-multi-agent-systems-under-a-unified-discontinuous-control-protocol