{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,11]],"date-time":"2026-06-11T21:05:37Z","timestamp":1781211937069,"version":"3.54.1"},"reference-count":29,"publisher":"Elsevier BV","issue":"11","license":[{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62203379"],"award-info":[{"award-number":["62203379"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100008095","name":"Yanshan University","doi-asserted-by":"publisher","award":["2024LGQL006"],"award-info":[{"award-number":["2024LGQL006"]}],"id":[{"id":"10.13039\/501100008095","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Journal of the Franklin Institute"],"published-print":{"date-parts":[[2026,7]]},"DOI":"10.1016\/j.jfranklin.2025.108393","type":"journal-article","created":{"date-parts":[[2026,1,2]],"date-time":"2026-01-02T16:40:33Z","timestamp":1767372033000},"page":"108393","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"title":["Cooperative-competitive nonlinear multi-agent network fixed time adaptive energy saving control"],"prefix":"10.1016","volume":"363","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-6198-7010","authenticated-orcid":false,"given":"Leping","family":"Fu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-9735-0965","authenticated-orcid":false,"given":"Wei","family":"Zheng","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7816-2822","authenticated-orcid":false,"given":"Hongbin","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"issue":"6","key":"10.1016\/j.jfranklin.2025.108393_bib0001","doi-asserted-by":"crossref","first-page":"5151","DOI":"10.1109\/TIE.2017.2668983","article-title":"Distributed multi-agent system-based load frequency control for multi-Area power system in smart grid","volume":"64","author":"Singh","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"7","key":"10.1016\/j.jfranklin.2025.108393_bib0002","doi-asserted-by":"crossref","first-page":"2442","DOI":"10.1109\/TCSI.2020.2975383","article-title":"Energy-constraint formation for multiagent systems with switching interaction topologies","volume":"67","author":"Xi","year":"2020","journal-title":"IEEE Trans. Circuits Syst. I-Regular Papers"},{"issue":"3","key":"10.1016\/j.jfranklin.2025.108393_bib0003","doi-asserted-by":"crossref","first-page":"3325","DOI":"10.1109\/JSYST.2019.2938315","article-title":"Neuroadaptive sliding mode formation control of autonomous underwater vehicles with uncertain dynamics","volume":"14","author":"Wang","year":"2020","journal-title":"IEEE Syst. J."},{"issue":"1","key":"10.1016\/j.jfranklin.2025.108393_bib0004","doi-asserted-by":"crossref","first-page":"126","DOI":"10.1109\/TCYB.2020.2970454","article-title":"Observer-based fuzzy adaptive finite-time containment control of nonlinear multiagent systems with input delay","volume":"51","author":"Li","year":"2021","journal-title":"IEEE Trans. Cybern."},{"issue":"2","key":"10.1016\/j.jfranklin.2025.108393_bib0005","doi-asserted-by":"crossref","first-page":"657","DOI":"10.1109\/TFUZZ.2024.3488015","article-title":"Adaptive fuzzy distributed optimal FTC for nonlinear multiagent systems based multiplayer differential game","volume":"33","author":"Wu","year":"2025","journal-title":"IEEE Trans. Fuzzy Syst."},{"issue":"4","key":"10.1016\/j.jfranklin.2025.108393_bib0006","doi-asserted-by":"crossref","first-page":"1359","DOI":"10.1109\/TNNLS.2017.2651402","article-title":"Consensus of hybrid multi-agent systems","volume":"29","author":"Zheng","year":"2018","journal-title":"IEEE Trans. Neural Netw Learn. Syst."},{"key":"10.1016\/j.jfranklin.2025.108393_bib0007","doi-asserted-by":"crossref","first-page":"92","DOI":"10.1016\/j.nahs.2019.05.003","article-title":"Fault-tolerant leader-following consensus for multi-agent systems subject to semi-Markov switching topologies: an event-triggered control scheme","volume":"34","author":"Shen","year":"2019","journal-title":"Nonlinear Anal. Hybrid Syst."},{"key":"10.1016\/j.jfranklin.2025.108393_bib0008","doi-asserted-by":"crossref","first-page":"168","DOI":"10.1109\/TASE.2023.3348236","article-title":"Observer-based event-triggered bipartite consensus for nonlinear multi-agent systems: asymmetric full-state constraints","volume":"22","author":"Sui","year":"2025","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"issue":"12","key":"10.1016\/j.jfranklin.2025.108393_bib0009","doi-asserted-by":"crossref","first-page":"5256","DOI":"10.1016\/j.jfranklin.2018.05.006","article-title":"A new class of fixed-time bipartite consensus protocols for multi-agent systems with antagonistic interactions","volume":"355","author":"Shi","year":"2018","journal-title":"J. Franklin Inst.-Eng. Appl. Math."},{"issue":"4","key":"10.1016\/j.jfranklin.2025.108393_bib0010","doi-asserted-by":"crossref","first-page":"935","DOI":"10.1109\/TAC.2012.2224251","article-title":"Consensus problems on networks with antagonistic interactions","volume":"58","author":"Altafini","year":"2013","journal-title":"IEEE Trans. Automat. Contr."},{"issue":"9","key":"10.1016\/j.jfranklin.2025.108393_bib0011","doi-asserted-by":"crossref","first-page":"5120","DOI":"10.1002\/rnc.6086","article-title":"Adaptive bipartite consensus of competitive linear multi-agent systems with asynchronous intermittent communication","volume":"32","author":"Xu","year":"2022","journal-title":"Int. J. Robust Nonlinear Control"},{"issue":"10","key":"10.1016\/j.jfranklin.2025.108393_bib0012","doi-asserted-by":"crossref","first-page":"1522","DOI":"10.1631\/FITEE.2100122","article-title":"Bipartite asynchronous impulsive tracking consensus for multi-agent systems","volume":"23","author":"Zhang","year":"2022","journal-title":"Front. Inf. Technol. Electron. Eng."},{"issue":"2","key":"10.1016\/j.jfranklin.2025.108393_bib0013","doi-asserted-by":"crossref","first-page":"548","DOI":"10.1109\/TCYB.2019.2936009","article-title":"Bipartite fixed-time output consensus of heterogeneous linear multiagent systems","volume":"51","author":"Zhang","year":"2021","journal-title":"IEEE Trans. Cybern."},{"issue":"6","key":"10.1016\/j.jfranklin.2025.108393_bib0014","doi-asserted-by":"crossref","first-page":"5432","DOI":"10.1109\/TCYB.2020.3031933","article-title":"Cooperative bipartite containment control for multiagent systems based on adaptive distributed observer","volume":"52","author":"Zhang","year":"2022","journal-title":"IEEE Trans. Cybern."},{"issue":"6","key":"10.1016\/j.jfranklin.2025.108393_bib0015","doi-asserted-by":"crossref","first-page":"2739","DOI":"10.1109\/TAC.2020.3008125","article-title":"Bipartite consensus tracking for second-order multiagent systems: a time-varying function-based preset-time approach","volume":"66","author":"Ning","year":"2021","journal-title":"IEEE Trans. Automat. Contr"},{"issue":"4","key":"10.1016\/j.jfranklin.2025.108393_bib0016","doi-asserted-by":"crossref","first-page":"2589","DOI":"10.1109\/TCYB.2020.3004572","article-title":"Prescribed-time event-triggered bipartite consensus of multiagent systems","volume":"52","author":"Chen","year":"2022","journal-title":"IEEE Trans. Cybern."},{"issue":"2","key":"10.1016\/j.jfranklin.2025.108393_bib0017","doi-asserted-by":"crossref","first-page":"2927","DOI":"10.1016\/j.ifacol.2020.12.967","article-title":"Distributed finite-time bipartite consensus of multi-agent systems via event-triggered control","volume":"53","author":"Xu","year":"2020","journal-title":"IFAC Papersonline"},{"issue":"1","key":"10.1016\/j.jfranklin.2025.108393_bib0018","doi-asserted-by":"crossref","first-page":"19","DOI":"10.1109\/TCNS.2019.2914409","article-title":"Finite-time consensus for linear multiagent systems via event-Triggered strategy without continuous communication","volume":"7","author":"Du","year":"2020","journal-title":"IEEE Trans. Control Network Syst."},{"key":"10.1016\/j.jfranklin.2025.108393_bib0019","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2025.112498","article-title":"Anti-attack compensator-based observer for adaptive prescribed-time bipartite consensus tracking control of nonlinear MASs under DoS attacks","volume":"181","author":"Niu","year":"2025","journal-title":"Automatica"},{"key":"10.1016\/j.jfranklin.2025.108393_bib0020","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2024.111871","article-title":"Distributed resilient adaptive consensus tracking control of nonlinear multi-agent systems dealing with deception attacks via K-filters approach","volume":"169","author":"Wang","year":"2024","journal-title":"Automatica"},{"issue":"3","key":"10.1016\/j.jfranklin.2025.108393_bib0021","doi-asserted-by":"crossref","first-page":"892","DOI":"10.1007\/s12555-022-1225-y","article-title":"Leader-following adaptive guaranteed-performance consensus control for multi-agent systems with exogenous disturbance","volume":"22","author":"Zhao","year":"2024","journal-title":"Int. J. Control Automat. Syst."},{"issue":"4","key":"10.1016\/j.jfranklin.2025.108393_bib0022","doi-asserted-by":"crossref","DOI":"10.1016\/j.jfranklin.2024.01.005","article-title":"Consensus control for multi-agent systems with input constraints based on disturbance observer","volume":"361","author":"Ma","year":"2024","journal-title":"J. Franklin Inst.-Eng. Appl. Math."},{"issue":"4","key":"10.1016\/j.jfranklin.2025.108393_bib0023","doi-asserted-by":"crossref","first-page":"2071","DOI":"10.1109\/TAC.2016.2594204","article-title":"Event-Triggered adaptive control for a class of uncertain nonlinear systems","volume":"62","author":"Xing","year":"2017","journal-title":"IEEE Trans. Automat. Contr."},{"key":"10.1016\/j.jfranklin.2025.108393_bib0024","doi-asserted-by":"crossref","first-page":"273","DOI":"10.1016\/j.neucom.2019.06.063","article-title":"Fixed-time adaptive neural tracking control for a class of uncertain nonstrict nonlinear systems","volume":"363","author":"Ba","year":"2019","journal-title":"Neurocomputing"},{"issue":"2","key":"10.1016\/j.jfranklin.2025.108393_bib0025","doi-asserted-by":"crossref","first-page":"363","DOI":"10.1080\/00207179.2013.834484","article-title":"A new class of finite-time nonlinear consensus protocols for multi-agent systems","volume":"87","author":"Zuo","year":"2014","journal-title":"Int. J. Control"},{"key":"10.1016\/j.jfranklin.2025.108393_bib0026","series-title":"2009 American Control Conference, Vols 1\u20139","first-page":"4482","article-title":"Adaptive dynamic surface control for a class of strict-Feedback nonlinear systems with unknown backlash-Like hysteresis","author":"Ren","year":"2009"},{"issue":"13","key":"10.1016\/j.jfranklin.2025.108393_bib0027","doi-asserted-by":"crossref","first-page":"1163","DOI":"10.1049\/iet-cta.2013.0949","article-title":"Adaptive trajectory tracking control of output constrained multi-rotors systems","volume":"8","author":"Zuo","year":"2014","journal-title":"IET Control Theory Appl."},{"issue":"13","key":"10.1016\/j.jfranklin.2025.108393_bib0028","doi-asserted-by":"crossref","first-page":"3116","DOI":"10.1080\/00207721.2015.1090039","article-title":"Bipartite output consensus in networked multi-agent systems of high-order power integrators with signed digraph and input noises","volume":"47","author":"Ma","year":"2016","journal-title":"Int. J. Syst. Sci."},{"issue":"4","key":"10.1016\/j.jfranklin.2025.108393_bib0029","doi-asserted-by":"crossref","first-page":"1536","DOI":"10.1109\/TNNLS.2020.2984944","article-title":"Performance guaranteed consensus tracking control of nonlinear multiagent systems: a finite-time function-based approach","volume":"32","author":"Cao","year":"2021","journal-title":"IEEE Trans. Neural Netw. Learn. Sys.t"}],"container-title":["Journal of the Franklin Institute"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0016003225008853?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0016003225008853?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,6,11]],"date-time":"2026-06-11T20:34:36Z","timestamp":1781210076000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0016003225008853"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,7]]},"references-count":29,"journal-issue":{"issue":"11","published-print":{"date-parts":[[2026,7]]}},"alternative-id":["S0016003225008853"],"URL":"https:\/\/doi.org\/10.1016\/j.jfranklin.2025.108393","relation":{},"ISSN":["0016-0032"],"issn-type":[{"value":"0016-0032","type":"print"}],"subject":[],"published":{"date-parts":[[2026,7]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Cooperative-competitive nonlinear multi-agent network fixed time adaptive energy saving control","name":"articletitle","label":"Article Title"},{"value":"Journal of the Franklin Institute","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.jfranklin.2025.108393","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2025 Published by Elsevier Inc. on behalf of The Franklin Institute.","name":"copyright","label":"Copyright"}],"article-number":"108393"}}