{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,10]],"date-time":"2026-02-10T19:31:27Z","timestamp":1770751887976,"version":"3.50.0"},"reference-count":29,"publisher":"Springer Science and Business Media LLC","issue":"7","license":[{"start":{"date-parts":[[2020,6,30]],"date-time":"2020-06-30T00:00:00Z","timestamp":1593475200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,6,30]],"date-time":"2020-06-30T00:00:00Z","timestamp":1593475200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61803392"],"award-info":[{"award-number":["61803392"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Fundamental Research Funds for the Central Universities of Central South University","award":["2020zzts531"],"award-info":[{"award-number":["2020zzts531"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Neural Comput & Applic"],"published-print":{"date-parts":[[2021,4]]},"DOI":"10.1007\/s00521-020-05072-6","type":"journal-article","created":{"date-parts":[[2020,6,30]],"date-time":"2020-06-30T07:02:46Z","timestamp":1593500566000},"page":"2285-2295","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Bipartite consensus of double-integrator multi-agent systems with nonuniform communication time delays"],"prefix":"10.1007","volume":"33","author":[{"given":"Wenfeng","family":"Hu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yanhua","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4895-9192","authenticated-orcid":false,"given":"Guo","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Min","family":"Meng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2020,6,30]]},"reference":[{"issue":"9","key":"5072_CR1","doi-asserted-by":"publisher","first-page":"1520","DOI":"10.1109\/TAC.2004.834113","volume":"49","author":"R Olfati-Saber","year":"2004","unstructured":"Olfati-Saber R, Murray RM (2004) Consensus problems in networks of agents with switching topology and time-delays. IEEE Trans Autom Control 49(9):1520\u20131533","journal-title":"IEEE Trans Autom Control"},{"issue":"5","key":"5072_CR2","doi-asserted-by":"publisher","first-page":"655","DOI":"10.1109\/TAC.2005.846556","volume":"50","author":"W Ren","year":"2005","unstructured":"Ren W, Beard RW (2005) Consensus seeking in multiagent systems under dynamically changing interaction topologies. IEEE Trans Autom Control 50(5):655\u2013661","journal-title":"IEEE Trans Autom Control"},{"issue":"10\u201311","key":"5072_CR3","first-page":"1002","volume":"17","author":"W Ren","year":"2010","unstructured":"Ren W, Atkins E (2010) Distributed multi-vehicle coordinated control via local information exchange. Int J Robust Nonlinear Control 17(10\u201311):1002\u20131033","journal-title":"Int J Robust Nonlinear Control"},{"issue":"3","key":"5072_CR4","doi-asserted-by":"publisher","first-page":"401","DOI":"10.1109\/TAC.2005.864190","volume":"51","author":"R Olfati-Saber","year":"2006","unstructured":"Olfati-Saber R (2006) Flocking for multi-agent dynamic systems: algorithms and theory. IEEE Trans Autom Control 51(3):401\u2013420","journal-title":"IEEE Trans Autom Control"},{"issue":"2","key":"5072_CR5","doi-asserted-by":"publisher","first-page":"293","DOI":"10.1109\/TAC.2008.2010897","volume":"54","author":"H Su","year":"2009","unstructured":"Su H, Wang X, Lin Z (2009) Flocking of multi-agents with a virtual leader. IEEE Trans Autom Control 54(2):293\u2013307","journal-title":"IEEE Trans Autom Control"},{"issue":"3\u20134","key":"5072_CR6","doi-asserted-by":"publisher","first-page":"761","DOI":"10.1007\/s00521-012-0991-5","volume":"23","author":"G Miao","year":"2013","unstructured":"Miao G, Wang Z, Ma Q, Lu J (2013) Consensus of second-order multi-agent systems with nonlinear dynamics and time delays. Neural Comput Appl 23(3\u20134):761\u2013767","journal-title":"Neural Comput Appl"},{"key":"5072_CR7","doi-asserted-by":"publisher","first-page":"418","DOI":"10.1016\/j.automatica.2018.12.029","volume":"103","author":"D Wang","year":"2019","unstructured":"Wang D, Wang W (2019) Necessary and sufficient conditions for containment control of multi-agent systems with time delay. Automatica 103:418\u2013423","journal-title":"Automatica"},{"issue":"150203","key":"5072_CR8","first-page":"1","volume":"63","author":"R Ding","year":"2020","unstructured":"Ding R, Hu W, Yang Y (2020) Rotating consensus control of double-integrator multi-agent systems with event-based communication. Sci China Inf Sci 63(150203):1\u201310","journal-title":"Sci China Inf Sci"},{"issue":"1","key":"5072_CR9","doi-asserted-by":"publisher","first-page":"115","DOI":"10.1109\/TAC.2003.821398","volume":"49","author":"JA Fax","year":"2004","unstructured":"Fax JA, Murray RM (2004) Information flow and cooperative control of vehicle formations. IEEE Trans Autom Control 49(1):115\u2013120","journal-title":"IEEE Trans Autom Control"},{"issue":"6","key":"5072_CR10","doi-asserted-by":"publisher","first-page":"1471","DOI":"10.1109\/TAC.2010.2044274","volume":"55","author":"A Papachristodoulou","year":"2010","unstructured":"Papachristodoulou A, Jadbabaie A, Munz U (2010) Effects of delay in multi-agent consensus and oscillator synchronization. IEEE Trans Autom Control 55(6):1471\u20131477","journal-title":"IEEE Trans Autom Control"},{"issue":"3","key":"5072_CR11","doi-asserted-by":"publisher","first-page":"1571","DOI":"10.1016\/j.jfranklin.2013.11.015","volume":"351","author":"P Lin","year":"2014","unstructured":"Lin P, Dai M, Song Y (2014) Consensus stability of a class of second-order multi-agent systems with nonuniform time-delays. J Frankl Inst 351(3):1571\u20131576","journal-title":"J Frankl Inst"},{"issue":"1","key":"5072_CR12","doi-asserted-by":"publisher","first-page":"647","DOI":"10.1007\/s00521-016-2393-6","volume":"28","author":"S Yang","year":"2017","unstructured":"Yang S, Liao X, Liu Y, Chen X (2017) Consensus of delayed multi-agent dynamical systems with stochastic perturbation via impulsive approach. Neural Comput Appl 28(1):647\u2013657","journal-title":"Neural Comput Appl"},{"issue":"5","key":"5072_CR13","doi-asserted-by":"publisher","first-page":"1095","DOI":"10.1007\/s00521-015-2117-3","volume":"28","author":"H Li","year":"2017","unstructured":"Li H, Wang Y, Chen G, Xia D, Xiao L (2017) Consensus in networked dynamical systems with event-triggered control inputs and random switching topologies. Neural Comput Appl 28(5):1095\u20131108","journal-title":"Neural Comput Appl"},{"key":"5072_CR14","doi-asserted-by":"publisher","first-page":"108804","DOI":"10.1016\/j.automatica.2020.108804","volume":"113","author":"J Jiang","year":"2020","unstructured":"Jiang J, Jiang Y (2020) Leader-following consensus of linear time-varying multi-agent systems under fixed and switching topologies. Automatica 113:108804","journal-title":"Automatica"},{"issue":"4","key":"5072_CR15","doi-asserted-by":"publisher","first-page":"692","DOI":"10.1109\/TAC.2003.809765","volume":"48","author":"V Gazi","year":"2003","unstructured":"Gazi V, Passino K (2003) Stability analysis of swarms. IEEE Trans Autom Control 48(4):692\u2013697","journal-title":"IEEE Trans Autom Control"},{"issue":"6","key":"5072_CR16","doi-asserted-by":"publisher","first-page":"1524","DOI":"10.1109\/TAC.2015.2471655","volume":"61","author":"AV Proskurnikov","year":"2015","unstructured":"Proskurnikov AV, Matveev AS, Cao M (2015) Opinion dynamics in social networks with hostile camps: consensus vs. polarization. IEEE Trans Autom Control 61(6):1524\u20131536","journal-title":"IEEE Trans Autom Control"},{"issue":"1","key":"5072_CR17","doi-asserted-by":"publisher","first-page":"46","DOI":"10.1109\/TCNS.2015.2437528","volume":"3","author":"W Xia","year":"2015","unstructured":"Xia W, Cao M, Johansson KH (2015) Structural balance and opinion separation in trust-mistrust social networks. IEEE Trans Control Netw Syst 3(1):46\u201356","journal-title":"IEEE Trans Control Netw Syst"},{"issue":"4","key":"5072_CR18","doi-asserted-by":"publisher","first-page":"935","DOI":"10.1109\/TAC.2012.2224251","volume":"58","author":"C Altafini","year":"2013","unstructured":"Altafini C (2013) Consensus problems on networks with antagonistic interactions. IEEE Trans Autom Control 58(4):935\u2013946","journal-title":"IEEE Trans Autom Control"},{"key":"5072_CR19","unstructured":"Hu J, Zheng W (2013) Bipartite consensus for multi-agent systems on directed signed networks. In: 52nd IEEE conference on decision and control. IEEE, pp 3451\u20133456"},{"key":"5072_CR20","doi-asserted-by":"crossref","unstructured":"Proskurnikov A, Matveev A, Cao M (2014) Consensus and polarization in Altafini\u2019s model with bidirectional time-varying network topologies. In: 53rd IEEE conference on decision and control. IEEE, pp 2112\u20132117","DOI":"10.1109\/CDC.2014.7039710"},{"issue":"6","key":"5072_CR21","doi-asserted-by":"publisher","first-page":"1524","DOI":"10.1109\/TAC.2015.2471655","volume":"61","author":"AV Proskurnikov","year":"2016","unstructured":"Proskurnikov AV, Matveev AS, Cao M (2016) Opinion dynamics in social networks with hostile camps: consensus vs. polarization. IEEE Trans Autom Control 61(6):1524\u20131536","journal-title":"IEEE Trans Autom Control"},{"issue":"12","key":"5072_CR22","doi-asserted-by":"publisher","first-page":"3755","DOI":"10.1109\/TAC.2016.2528539","volume":"61","author":"D Meng","year":"2016","unstructured":"Meng D, Du M, Jia Y (2016) Interval bipartite consensus of networked agents associated with signed digraphs. IEEE Trans Autom Control 61(12):3755\u20133770","journal-title":"IEEE Trans Autom Control"},{"key":"5072_CR23","doi-asserted-by":"crossref","unstructured":"Yang Y, Ding R, Hu W (2019) Bipartite consensus for a class of double-integrator multi-agent systems with antagonistic interactions. In: 2019 IEEE\/ASME international conference on advanced intelligent mechatronics (AIM). IEEE, pp 901\u2013906","DOI":"10.1109\/AIM.2019.8868454"},{"key":"5072_CR24","doi-asserted-by":"publisher","first-page":"50","DOI":"10.1016\/j.neucom.2019.09.067","volume":"373","author":"Q Ma","year":"2020","unstructured":"Ma Q, Zhou G, Li E (2020) Adaptive bipartite output consensus of heterogeneous linear multi-agent systems with antagonistic interactions. Neurocomputing 373:50\u201355","journal-title":"Neurocomputing"},{"issue":"12","key":"5072_CR25","doi-asserted-by":"publisher","first-page":"6168","DOI":"10.1109\/TAC.2017.2700523","volume":"62","author":"J Liu","year":"2017","unstructured":"Liu J, Chen X, Ba\u015far T, Belabbas MA (2017) Exponential convergence of the discrete- and continuous-time Altafini models. IEEE Trans Autom Control 62(12):6168\u20136182","journal-title":"IEEE Trans Autom Control"},{"issue":"12","key":"5072_CR26","doi-asserted-by":"publisher","first-page":"2012","DOI":"10.1109\/TCSII.2018.2811803","volume":"65","author":"Y Zhu","year":"2018","unstructured":"Zhu Y, Li S, Ma J, Zheng Y (2018) Bipartite consensus in networks of agents with antagonistic interactions and quantization. IEEE Trans Circuits Syst II Express Briefs 65(12):2012\u20132016","journal-title":"IEEE Trans Circuits Syst II Express Briefs"},{"issue":"12","key":"5072_CR27","doi-asserted-by":"publisher","first-page":"5256","DOI":"10.1016\/j.jfranklin.2018.05.006","volume":"355","author":"X Shi","year":"2018","unstructured":"Shi X, Lu J, Liu Y, Huang T, Alssadi FE (2018) A new class of fixed-time bipartite consensus protocols for multi-agent systems with antagonistic interactions. J Frankl Inst 355(12):5256\u20135271","journal-title":"J Frankl Inst"},{"issue":"18","key":"5072_CR28","doi-asserted-by":"publisher","first-page":"6146","DOI":"10.1002\/rnc.4364","volume":"28","author":"Y Jiang","year":"2018","unstructured":"Jiang Y, Zhang H, Chen J (2018) Sign-consensus over cooperative-antagonistic networks with switching topologies. Int J Robust Nonlinear Control 28(18):6146\u20136162","journal-title":"Int J Robust Nonlinear Control"},{"issue":"8","key":"5072_CR29","doi-asserted-by":"publisher","first-page":"1948","DOI":"10.1109\/TCYB.2016.2612482","volume":"47","author":"J Qin","year":"2016","unstructured":"Qin J, Fu W, Zheng WX, Gao H (2016) On the bipartite consensus for generic linear multiagent systems with input saturation. IEEE Trans Cybern 47(8):1948\u20131958","journal-title":"IEEE Trans Cybern"}],"container-title":["Neural Computing and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-020-05072-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s00521-020-05072-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-020-05072-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,6,29]],"date-time":"2021-06-29T23:44:16Z","timestamp":1625010256000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s00521-020-05072-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,6,30]]},"references-count":29,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2021,4]]}},"alternative-id":["5072"],"URL":"https:\/\/doi.org\/10.1007\/s00521-020-05072-6","relation":{},"ISSN":["0941-0643","1433-3058"],"issn-type":[{"value":"0941-0643","type":"print"},{"value":"1433-3058","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,6,30]]},"assertion":[{"value":"29 December 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 June 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"30 June 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with ethical standards"}},{"value":"The authors declare that they have no conflict of interest. This article does not contain any studies with animals performed by any of the authors. Informed consent was obtained from all individual participants included in the study.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}