Pinning Control of Lag-Consensus for Second-Order Nonlinear Multiagent Systems
研究如何通过牵制控制使二阶非线性多智能体系统实现滞后一致性，即跟随者状态向量滞后于领导者，并考虑噪声环境下的实际问题。
Lag consensus means that the corresponding state vectors of the followers are behind the leader with a lag time. In this paper, Lyapunov functional and matrix theory are applied to analyze pinning-controlled lag consensus of second-order nonlinear multiagent systems. The focus is twofold: 1) to find out which agents should be pinned and 2) to determine what the coupling strength should be, so that the multiagent systems can reach lag consensus. Moreover, the practical problem in a noisy environment is considered. Finally, an illustrative example is provided to demonstrate the effectiveness of the proposed pinning control protocol.