Bipartite consensus of multiple fractional-order nonlinear systems with output constraints is assessed under signed graph. The agents’ model is completely unknown with high-order heterogeneous strict-feedback dynamics and external disturbances, which cover single- and double-integrator integer-order systems as special forms. To ensure the bipartite consensus task, a novel fully distributed controller is developed based on backstepping technique and neuro-adaptive update mechanism. A barrier Lyapunov function is introduced to limit the followers’ outputs within the preset bounds. Algebraic graph theory and Lyapunov fractional-order stability theorem are employed to deal with the analysis difficulties caused by the network of fractional-order dynamics. Sufficient conditions on bipartite consensus is established, and it is also shown that all the closed-loop error signals are uniformly ultimately bounded. The simulation results are carried out to demonstrate the effectiveness of the proposed approach.

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