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In this paper, we investigate distributed multi-agent tracking of a convexset specified by multiple moving leaders with unmeasurable velocities. Variousjointly-connected interaction topologies of the follower agents withuncertainties are considered in the study of set tracking. Based on theconnectivity of the time-varying multi-agent system, necessary and sufficientconditions are obtained for set input-to-state stability and set integralinput-to-state stability for a nonlinear neighbor-based coordination rule withswitching directed topologies. Conditions for asymptotic set tracking are alsoproposed with respect to the polytope spanned by the leaders.

Connectivity and Set Tracking of Multi-agent Systems Guided by Multiple Moving Leaders