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Mathematical Problems in Engineering
Volume 2016, Article ID 2756046, 11 pages
Research Article

Adaptive Tracking Control of Second-Order Multiagent Systems with Jointly Connected Topologies

1School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, China
2School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China

Received 7 April 2016; Revised 23 June 2016; Accepted 3 July 2016

Academic Editor: Xuejun Xie

Copyright © 2016 Lei Chen et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper considers a consensus problem of leader-following multiagent system with unknown dynamics and jointly connected topologies. The multiagent system includes a self-active leader with an unknown acceleration and a group of autonomous followers with unknown time-varying disturbances; the network topology associated with the multiagent system is time varying and not strongly connected during each time interval. By using linearly parameterized models to describe the unknown dynamics of the leader and all followers, we propose a decentralized adaptive tracking control protocol by using only the relative position measurements and analyze the stability of the tracking error and convergence of the adaptive parameter estimators with the help of Lyapunov theory. Finally, some simulation results are presented to demonstrate the proposed adaptive tracking control.