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This paper studies the multi-tracking problem of multiagent systems with second-order dynamic. A pulse-modulation intermittent control protocol is proposed with only sampled position data of each agent. To deal with the bandwidth limitation, a stochastic quantization scheme is introduced. And the data of agents is quantified before transmission. Moreover, the proposed control protocol is improved under communication delay. Based on algebraic graph theory, stochastic quantization and stability theory, some necessary and sufficient conditions are obtained to ensure multi-tracking of the controlled system. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control protocol. Agents in each subnetwork asymptotically converge to the same desired trajectory, while there is no consensus among different subnetworks.

Quantized Multi-Tracking in the Multiagent System With Sampled Position Data via Intermittent Control