Lag consensus means that the corresponding state vectors of the followers are behind the leader with a lag time. In this paper, Lyapunov functional and matrix theory are applied to analyze pinning-controlled lag consensus of second-order nonlinear multiagent systems. The focus is twofold: 1) to find out which agents should be pinned and 2) to determine what the coupling strength should be, so that the multiagent systems can reach lag consensus. Moreover, the practical problem in a noisy environment is considered. Finally, an illustrative example is provided to demonstrate the effectiveness of the proposed pinning control protocol.

In this paper a lattice Boltzmann equation (LBE) method is designed that is different from the previous LBE for the Cahn-Hilliard equation (CHE). The starting point of the present CHE LBE model is from the kinetic theory and the work of Lee and Liu [T. Lee and L. Liu, J. Comput. Phys. 229, 8045 (2010)]; however, because the CHE does not conserve the mass locally, a modified equilibrium density distribution function is introduced to treat the diffusion term in the CHE. Numerical simulations including layered Poiseuille flow, static droplet, and Rayleigh-Taylor instability have been conducted to validate the model. The results show that the predictions of the present LBE agree well with the analytical solution and other numerical results.