Adaptive Event-Triggered Lag Consensus for Nonlinear Multiagent Systems With or Without External Disturbances

This article, respectively, tackles two types of lag consensus problems for a class of nonlinear multiagent systems (MASs) suffering external disturbances. Based on a nodes-based adaptive event-triggered control (ETC) protocol, the lag consensus can be realized for MASs by utilizing Barbalat’s lemma and inequality techniques. By employing the nodes-based adaptive ETC method, lag$H_{\infty } $consensus is also addressed for MASs. Furthermore, we also prove the facts that MASs with and without external disturbances under the nodes-based adaptive ETC schemes don’t exhibit Zeno behavior. In addition, two edge-based adaptive ETC strategies are also developed to deal with two kinds of lag consensus problems of MASs. Finally, the effectiveness of the devised nodes- and edges-based adaptive ETC protocols is demonstrated via two numerical examples.