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Ding et al. Complex Eng Syst 2023;3:7 I http://dx.doi.org/10.20517/ces.2023.06 Page 11 of 13

agent 1 agent 2
10 20
e2 e2
11 21
e2 10 e2
5 12 22
e 2 e 2 0
0
-10

-5 -20
0 2 4 6 8 10 0 2 4 6 8 10
time/s time/s
agent 3 agent 4
5 10

0 0
e 2 e 2
-5 e2 -10
31 e2 41
e2 e2
32 42
-10 -20
0 2 4 6 8 10 0 2 4 6 8 10
time/s time/s

Figure 6. The velocity error 2 ( ) of the followers in Figure 6A-D. A: Velocity error of the 1st agent; B: Velocity error of the 2nd agent; C:
Velocity error of the 3rd agent; D: Velocity error of the 4th agent.

agent 1 agent 2
15 40
s s
11 21
s 30 s
10 12 22
s s 20
5
10
0 0
0 2 4 6 8 10 0 2 4 6 8
time/s time/s
agent 3 agent 4
15 40
s s
31 41
10 s s
32 20 42
s 5 s
0
0

-5 -20
0 2 4 6 8 10 0 2 4 6 8 10
time/s time/s

Figure 7. Sliding variables ( ) of the followers in Figure 7A-D. A: Sliding variable ( ) of the 1st agent; B: Sliding variable ( ) of the 2nd agent;
C: Sliding variable ( ) of the 3rd agent; D: Sliding variable ( ) of the 4th agent.

scheme, consensus tracking can be achieved. Only malicious attacks and channel fading have been considered
in this work. In practical applications, there may coexist multiple constraints, such as actuator/sensor faults,