Distributed observer design for group consensus tracking of multi-agent systems with time-delays

This paper investigates the observer-based bounded group consensus tracking control problem of second-order multi-agent systems with time delays in a disturbance environment via pinning control approach. Group consensus criteria are established by designing distributed observers to estimate the velocity of the active leaders and adopting a new pinning strategy: the node with zero in-degree will be chosen as the pinned node, whose pinned coefficient can be arbitrary nonzero constant. Finally, simulation examples are given to illustrate the effectiveness of our results.