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This article examines multiagent relay tracking systems with the varying number of tracking agents. We first establish an accurate mathematical model to describe a relay tracking process with communication delays, jumps in the tracking errors and time-varying number of tracking agents. Then, a novel impulse-time-dependent average Lyapunov function is proposed for designing a multiagent relay tracking system. Sufficient conditions for the existence of a relay tracking controller are derived in terms of linear matrix inequalities. Finally, the effectiveness of our approaches is verified by numerical simulations.
Dong et al. (Wed,) studied this question.