On Multitracking of First-Order MASs with Adaptive Coupling Strength

The problem of cluster consensus with multiple leaders is called multitracking. In this article, a sort of multitracking of first-order multiagent systems with adaptive coupling strength is studied by the application of adaptive strategy, and the delayed relation between various leaders and clusters is considered. To reach the clustered multitracking goal, a novel pinning-like control protocol with adaptive approach is designed according to the properties of network topology. In addition, the structure of the networked system is a weakly connected digraph. Some conditions are derived to ensure that the nodes in the same cluster reach the consensus via tracking their leader, while leaders will keep a delayed relation with the settled leader node as time goes on to form the required delay consensus.