Bipartite Consensus on Coopetition Networks With Time-Varying Delays

In this paper, the bipartite consensus problem is investigated for multiagent systems with second-order dynamics and antagonistic interactions. We consider bipartite consensus under two kinds of protocols. One is an absolute damping protocol, and the other is a relative damping protocol. When there are no time delays, necessary and sufficient conditions are derived for the system to asymptotically achieve the bipartite consensus under the given protocols. When there are communication delays, sufficient conditions are obtained for the system to asymptotically achieve the bipartite consensus. In case G(A) is structurally unbalanced, consensus can also be asymptotically achieved, while this case is trivial.