Tracking a high-dimensional active leader of switching multi-agent systems with communication delays

This paper considers a target tracking problem, and the dynamics of the target regarded as an active leader is given in a general form of linear system. The multi-agent network contains communication delays and experiences switching interconnection. A distributed estimator is designed for each agent to obtain the unmeasurable state variables of the dynamic leader, and then a distributed feedback control law is developed to achieve the tracking. With constructing a common Lyapunov function, a sufficient condition is given to guarantee that each agent can track the active leader. Moreover, the input-to-state stability (ISS) is obtained for time-delay system in a disturbed environment.