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

Abstract

This paper addresses the issue of lag consensus of the leader-following multiagent systems with communication delays and switching topologies. Lag consensus means that the states of the followers lag that of the leader. Based on the graph theory and the common Lyapunov-Krasovskii functional method, we design a protocol ensuring the lag consensus of multiagent systems with communication delays under arbitrary switching topologies. Simulation examples are also provided to illustrate the proposed theoretical results.