Relay Tracking Controller Design for Multiagent Systems With Varying Number of Agents

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.