Lag consensus of second-order leader-following multiagent systems with communication delays

Addressed in this paper is the leader-following lag consensus of multiagent systems. By leader-following lag consensus, we mean that the followers achieve the state consensus with a lagged state of the leader. By means of Lyapunov-Krasovskii method, a sufficient condition is established which guarantees the required lag consensus. A numerical example is provided to illustrate the proposed theoretical results.