The problem of cluster consensus with multiple leaders is called multitracking. In this article, a sort of multitracking of first-order multiagent systems with adaptive coupling strength is studied by the application of adaptive strategy, and the delayed relation between various leaders and clusters is considered. To reach the clustered multitracking goal, a novel pinning-like control protocol with adaptive approach is designed according to the properties of network topology. In addition, the structure of the networked system is a weakly connected digraph. Some conditions are derived to ensure that the nodes in the same cluster reach the consensus via tracking their leader, while leaders will keep a delayed relation with the settled leader node as time goes on to form the required delay consensus.

中文翻译：

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具有自适应耦合强度的一阶MAS多轨跟踪

与多个领导者达成集群共识的问题称为多轨跟踪。本文通过自适应策略的研究，研究了一类具有自适应耦合强度的一阶多主体系统的多跟踪问题，并考虑了各个领导者与集群之间的时滞关系。为了达到集群式多轨跟踪的目的，根据网络拓扑的特点，设计了一种具有自适应方法的新型钉扎控制协议。另外，网络系统的结构是一个弱连接图。得出一些条件以确保同一群集中的节点通过跟踪其领导者达到共识，而随着时间的推移，领导者将与已解决的领导者节点保持延迟关系，以形成所需的延迟共识。