Lag Group Consensus for the Second-order Nonlinear Multi-agent Systems via Adaptive Control Approach

Second-order nonlinear multi-agent system whose agents could be divided into multiple subgroups is considered in this paper. In order to avoid congestion, lag group consensus of the considered system is investigated via adaptive protocol. Without constraint on the topology of the system, sufficient conditions for the lag group consensus are proposed analytically. Finally, the efficiency of the proposed methodology is illustrated by numerical simulation.