Adaptive Event-Triggered Lag Consensus for Nonlinear Multiagent Systems with External Disturbances

This paper respectively tackles two types of lag consensus problems for a nonlinear multiagent systems (MASs) suffering external disturbances. Based on an adaptive eventtriggered control (ETC) protocol, the lag consensus can be realized for MASs by utilizing Barbalat's lemma and inequality techniques. By employing the 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 adaptive ETC schemes don't exhibit Zeno behavior. Finally, the effectiveness of the devised adaptive ETC protocols are demonstrated via the numerical example.