Lag Group Consensus For Multi-Agent Systems With Hybrid Control

For second-order multi-agent system, we consider the problem of lag group consensus. First, a novel hybrid controller was designed which based on the presence or absence of communication delays between the leader and followers. Then, based on the graph theory and matrix theory, the group consensus problem can transform the stability problem of error system. By applying the Hurwitz stability theory, the sufficient and necessary conditions are given to guarantee the lag group consensus for the multi-agent systems. Finally, simulation examples are given to show the correctness of the results.