Lag Output Consensus for Second-order Nonlinear Multiagent Systems under PID Control

Based on PD and PI control methods, the lag output consensus problem for second-order nonlinear multiagent systems (MASs) without and with external disturbances is addressed, which generalizes the existing lag consensus results for MASs. Firstly, a lag output consensus condition is derived for the MAS by designing a proper PD control scheme. Furthermore, a PI control strategy is developed to ensure that the MAS realizes the lag output consensus. In addition, two lag H_∞ output consensus criteria are also established on the basis of PD and PI control schemes for the MAS with external disturbances. Lastly, two examples are utilized to verify the correctness and effectiveness of the devised control schemes.