Lag formation control for nonlinear second-order multiagent systems without and with external disturbances

The lag and lag H_∞ formation control of nonlinear second-order multiagent systems (MASs) without and with communication delay are addressed. Based on inequality techniques and a distributed state feedback control strategy, a sufficient condition is presented for lag formation of the MAS. Moreover, a state feedback control scheme with communication delay is also developed to ensure the lag formation for the MAS. In addition, these control schemes are further extended to the MAS with external disturbances, and several lag H_∞ formation criteria for the MAS are also given. Finally, the devised distributed state feedback control protocols are verified via numerical examples.