Human-in-the-loop lag output consensus and lag H∞ output consensus for second-order multiagent systems with nonlinear dynamics

Virtual leader method is utilized to address the human-in-the-loop (HiTL) lag output consensus for second-order nonlinear multiagent systems (MASs) with and without exogenous interferences. In this paper, the virtual leader model contains control input, which is not available to all followers and determined by human. By leveraging inequality techniques and selecting suitable adaptive control strategy, a lag output consensus condition is established for the concerned MAS. Moreover, an adaptive control protocol with communication delay is devised for guaranteeing the lag output consensus of the MAS. Furthermore, these obtained results are further extended to the situation where exogenous interferences appear in the MAS. Finally, the performances of these presented adaptive control strategies are demonstrated via numerical examples.