## 1 Introduction  
There are many consensus phenomena in nature such as bird and fish clusters, and they are actually related to the consensus control problem of multi-agent systems. In recent years, the consensus problem of intelligent agents is one of important topics in nonlinear science. With the development of the Internet, big data technology, and artificial intelligence science, more possibilities are being provided for consensus control and practical application. How to control the behavior of multi-agent systems to achieve a predetermined or synchronized trajectory is an important topic, such as the consensus of unmanned aerial vehicles, robotic arms, aircraft, etc. Chaos is also one of the interesting phenomena in nonlinear science, and it has attracted much attention due to its high sensitivity to initial values and the complexity of its motion trajectory [1; 2; 3; 4; 5; 6]. Some potential applications have been studied based on chaotic systems, such as finance model analysis [7; 8], circuit implementation [9], chaos-based encryption [10; 11; 12], and secure communication [13; 14]. In order to verify the effectiveness and feasibility of control methods for tracking or synchronizing complex behavior, chaotic systems can usually be used to simulate the motion trajectory of intelligent agents. Many control methods have been proposed for the consensus or synchronization of complex dynamical systems, such as feedback control [15], active control [16; 17], adaptive control [18; 19], event-triggered control [20], pulse control [21; 22], etc. In reference [23], an introduction to event-triggered coordination for multi-agent average consensus was investigated using the motivations of event-triggered strategies for consensus, methods for algorithm synthesis, technical challenges, and their applications in distributed control. Inreference [24], the master-slave synchronization of a type of the complex-valued chaotic Lur'e systems with time delay was addressed with decomposing complex-valued dynamic systems into two real-valued systems. A nonlinear active controller was obtained to synchronize the two identical dissipative fermionic systems in their chaotic states for different initial values [17]. The role of different structures of coupling terms on the synchronization properties of master-slave chaotic system configurations was investigated based on the Lyapunov theory for linear systems with nonlinear vanishing perturbations [25]. Sufficient conditions for master-slave synchronization of Lur'e systems are presented for a known time delay in the master and slave systems [26]. In reference [27], the position control of a master-slave synchronization robotic arm driven by a D.C. motor using a PID (Proportional, Integral, and Derivative) controller with software and hardware design was analyzed. The sufficient conditions for the quasi-consensus of multi-agent systems were studied via event-triggered impulsive control [28]. A robust control protocol was proposed to the formation control of leader-follower multi-agent systems with unknown nonlinear input-constrained dynamics [29]. In reference [30], the adaptive control method with a switching set of the parameter estimate was discussed for the distributed leader-follower control of multi-agent systems. Fault-tolerant cooperative control was investigated by an uncertain leader system and multiple uncertain Euler-Lagrange systems, and a self-adjusting observer was designed to estimate the uncertain leader's signal [31]. In reference [32], sufficient conditions regarding the existence of a time delay feedback controller were derived for two identical nonautonomous horizontal platform systems. To achieve master-slave synchronization, stochastic scheduling and Round-Robin scheduling protocols were proposed by appropriately designing the observer and controller for the slave system [33].