Lag Consensus of Second-Order Discrete-time Leader-Following Multi-agent Systems with Communication Delays

This paper addresses that the lag consensus issue of second-order discrete-time leader-following multiagent system which have communication delays. Firstly, basing on graph theory, a model with communication delays is established, which is of lag consensus of discrete-time leader-following multiagent system. Secondly, to propose a sufficient condition of lag consensus for delay-free system, Lyapunov-Krasovskii functional method has been used. Moreover, lag consensus is investigated for the system of leader-following multiagent with communication delays. Finally, the theoretical result is verified by a simulation example.