Lag consensus of nonlinear multi-agent systems via intermittent pinning control

In order to adapt to the relevant intermittent signals and reduce its control cost, the problem of lag consensus of multi-agent system is studied under intermittent pinning control. Firstly, the definition of lag consensus is given, then a suitable intermittent pinning control protocol is designed for the multi-agent system model, and the Lyapunov functional method and matrix inequality theory are used to derive the sufficient conditions for the lag consensus of the system under intermittent pinning control, thus realizing the lag consensus of the nonlinear multi-agent system under intermittent pinning control. Finally, the correctness and validity of the theoretical results are verified by numerical simulation.