Lag Consensus of Discrete-time Nonlinear Leader-Following Multi-agent Systems

This paper sought to a lag consensus issue of discrete-time nonlinear leader-following multiagent system. Firstly, a second-order discrete-time leader-following multiagent systems model has been established. Secondly, a protocol is designed for considered systems, based on the graph theory and general Lyapunov-Krasovskii functional method. Thirdly, one sufficient condition based on linear matrices inequalities (LMIs) is provided to realize the lag consensus of considered systems.