This article focuses on scaled consensus tracking for a class of high-order nonlinear multiagent systems. Different from the existing results, for high-order nonlinear multiagent systems with time delays and external disturbances, a fully distributed consensus protocol is designed to drive all agents to achieve scaled consensus with preassigned ratios. The control gains are varying and updated by distributed adaptive laws. As a result, the presented protocol is independent of any global information, and thus, could be implemented in a fully distributed manner. Simultaneously, the fully distributed control protocol using an adaptive $\sigma$ -modification technique is presented to deal with external disturbances, which can guarantee the tracking errors and coupling weights of all following agents are uniformly ultimately bounded. To tackle with the derivatives of the functionals with time delays, the Lyapunov–Krasovskii functional is employed to analyze and compensate them by introducing multiintegral terms. Finally, simulation examples are included to verify the effectiveness of the theoretical results.

In this paper, the flocking behavior and targets consensus tracking problems of heterogeneous multiple inertial agents with limited communication ranges are investigated. Consider the inertial effect of real agents, a distributed control protocol is designed such that the agents can achieve stable group behaviors. Using the decomposition approach, the stability of a multiple inertial agents system is proved. Combining with the flocking behavior of multiple inertial agents, agents themselves are in charge of searching and choosing the target in an autonomous and individual way according to the relationship between velocities of agents and targets. An augmented distributed multiflocking method is proposed to guarantee that the multitarget consensus tracking can be reached for heterogeneous multiagent systems. It shows that the proposed control approach can not only ensure local flocking with pursuing agents, but also make heterogeneous agents consistently track the multitarget.

In this paper, the scaled consensus of multiagent systems (MASs) with second-order nonlinear dynamics and time-varying delays is investigated, where agents are supposed to aperiodically communicate with each other under a directed graph at some disconnected time intervals. Different from the existing works, we consider the case where time-varying delays exist in both nonlinear dynamics and communication networks. First, to address this problem, we propose a novel scaled consensus protocol. Second, using Lyapunov theory and graph theory, it is proved that under mild conditions, MASs with second-order nonlinear dynamics exponentially reach scaled consensus. Moreover, we extend our results to the case of leader-following scaled consensus. Finally, the simulation examples are included to verify the effectiveness of the theoretical results.

A dynamic event-triggered $\mathcal {H}_{\infty }$ controller of the singular system based on stochastic cyber-attacks is studied in this article. To save network resources, a novel way is given, the cyber-attacks are considered as phenomena randomly occurring via network communication. First, sufficient conditions are derived, which ensure the closed-loop singular system to be regular, impulse free and asymptotically stable under a prescribed $\mathcal {H}_{\infty }$ norm bound. Second, from some elegant linearization techniques, the method of design corresponding controller is put forward. Finally, some examples are given to illustrate the effectiveness of the obtained theoretical results.