Lag consensus of the second-order leader-following multi-agent systems with nonlinear dynamics

Lag consensus is a phenomenon where followers track the trajectory of the leader with a time delay. By using lag consensus, a protocol is designed for agents to behind the leader at different times, so as to avoid congestion. In this paper, aiming to the lag consensus of second-order nonlinear multi-agent systems, a control protocol for each follower based on local information of neighboring agents is proposed, and an adaptive feedback control protocol is also given. Moreover, the multi-agent systems with noisy environment are considered. The results suggest that our protocol is robust to the noise. Finally, simulation examples are given to illustrate our theoretical analysis.