Tracking control for second-order agents with an active leader and jointly-connected topologies

In this paper, we investigate a tracking control problem of second-order multi-agent systems. Here, the leader is active and cannot be completely measured, the interaction graph among the followers is described by jointly-connected topologies, where the topology switches vary over time and is not strongly connected in each time-intervals. We propose a neighbor-based control rule for each agent to track the leader. Then a method for estimating the tracking errors is given, using the extension of the Barbalat´s Lemma. Finally, Some simulation results are presented to demonstrate our theoretical results.