Human-in-the-loop lag output consensus and lag <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" display="inline" id="d1e355" altimg="si1.svg"> <mml:msub> <mml:mrow> <mml:mi mathvariant="script">H</mml:mi> </mml:mrow> <mml:mrow> <mml:mi>∞</mml:mi> </mml:mrow> </mml:msub> </mml:math> output consensus for second-order multiagent systems with nonlinear dynamics