Lag Group Consensus of High-Order Multiagent Systems in Directed Network Settings

This article studies lag group consensus problems of multiagent systems with directed information transformations. Agents in the network are divided into finite groups, and modeled by high-order systems. Distributed consensus protocols with constant lags are presented to realize the lag group consensus: the states of the agents in a group approach to a consensus value asymptotically, while there exist given ratios between the final values of different groups. Necessary and sufficient criteria for the lag group consensus are obtained by the Laplace transformation. Finally, theoretical results are proved to be effective by several simulation results.