{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T17:19:17Z","timestamp":1778087957672,"version":"3.51.4"},"reference-count":44,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2025,4,1]],"date-time":"2025-04-01T00:00:00Z","timestamp":1743465600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,4,1]],"date-time":"2025-04-01T00:00:00Z","timestamp":1743465600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Syst Sci Complex"],"published-print":{"date-parts":[[2025,4]]},"DOI":"10.1007\/s11424-025-5088-1","type":"journal-article","created":{"date-parts":[[2025,5,5]],"date-time":"2025-05-05T05:27:46Z","timestamp":1746422866000},"page":"756-781","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Leader-Following Adaptive Tracking Control for A Class of Uncertain Discrete-Time Nonlinear Multi-Agent Systems Under Event-Triggered Communication"],"prefix":"10.1007","volume":"38","author":[{"given":"Yuchun","family":"Xu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yanjun","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ji-Feng","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,5,5]]},"reference":[{"key":"5088_CR1","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-84800-015-5","volume-title":"Distributed Consensus in Multi-Vehicle Cooperative Control","author":"W Ren","year":"2008","unstructured":"Ren W and Beard R W, Distributed Consensus in Multi-Vehicle Cooperative Control, Springer, London, 2008."},{"key":"5088_CR2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-5574-4","volume-title":"Cooperative Control of Multi-Agent Systems: Optimal and Adaptive Design Approaches","author":"F Lewis","year":"2014","unstructured":"Lewis F, Zhang H, Hengster-Movric K, et al., Cooperative Control of Multi-Agent Systems: Optimal and Adaptive Design Approaches, Springer-Verlag, London, U.K., 2014."},{"key":"5088_CR3","volume-title":"Distributed Cooperative Control of Multi-Agent Systems","author":"W Yu","year":"2017","unstructured":"Yu W, Wen G, Chen G, et al., Distributed Cooperative Control of Multi-Agent Systems, John Wiley & Sons, Hoboken, 2017."},{"issue":"6","key":"5088_CR4","doi-asserted-by":"publisher","first-page":"988","DOI":"10.1109\/TAC.2003.812781","volume":"48","author":"A Jadbabaie","year":"2003","unstructured":"Jadbabaie A, Lin J, and Morse A S, Coordination of groups of mobile autonomous agents using nearest neighbor rules, IEEE Trans. Autom. Control, 2003, 48(6): 988\u20131001.","journal-title":"IEEE Trans. Autom. Control"},{"issue":"9","key":"5088_CR5","doi-asserted-by":"publisher","first-page":"1520","DOI":"10.1109\/TAC.2004.834113","volume":"49","author":"R Olfati-Saber","year":"2004","unstructured":"Olfati-Saber R and Murray R M, Consensus problems in networks of agents with switching topology and time-delays, IEEE Trans. Autom. Control, 2004, 49(9): 1520\u20131533.","journal-title":"IEEE Trans. Autom. Control"},{"issue":"2","key":"5088_CR6","doi-asserted-by":"publisher","first-page":"169","DOI":"10.1109\/TAC.2004.841888","volume":"50","author":"L Moreau","year":"2005","unstructured":"Moreau L, Stability of multiagent systems with time-dependent com munication links, IEEE Trans. Autom. Control, 2005, 50(2): 169\u2013182.","journal-title":"IEEE Trans. Autom. Control"},{"issue":"7","key":"5088_CR7","doi-asserted-by":"publisher","first-page":"1432","DOI":"10.1016\/j.automatica.2012.05.008","volume":"48","author":"H Zhang","year":"2012","unstructured":"Zhang H and Lewis F, Adaptive cooperative tracking control of high-order nonlinear systems with unknown dynamics, Automatica, 2012, 48(7): 1432\u20131439.","journal-title":"Automatica"},{"key":"5088_CR8","doi-asserted-by":"publisher","first-page":"109021","DOI":"10.1016\/j.automatica.2020.109021","volume":"118","author":"J Huang","year":"2020","unstructured":"Huang J, Wang W, Wen C, et al., Distributed adaptive leader-follower and leaderless consensus control of a class of strict-feedback nonlinear systems: A unified approach, Automatica, 2020, 118: 109021.","journal-title":"Automatica"},{"issue":"4","key":"5088_CR9","doi-asserted-by":"publisher","first-page":"1330","DOI":"10.1007\/s11424-022-1003-1","volume":"35","author":"R Yang","year":"2022","unstructured":"Yang R and Zhou D, Distributed event-triggered tracking control of heterogeneous discrete-time multi-agent systems with unknown parameters, Journal of Systems Science & Complexity, 2022, 35(4): 1330\u20131347.","journal-title":"Journal of Systems Science & Complexity"},{"issue":"1","key":"5088_CR10","doi-asserted-by":"publisher","first-page":"332","DOI":"10.1137\/100818662","volume":"51","author":"Q Zhang","year":"2013","unstructured":"Zhang Q and Zhang J F, Quantized data-based distributed consensus under distributed time-varying communication topology, SIAM J. Control Optim., 2013, 51(1): 332\u2013352.","journal-title":"SIAM J. Control Optim."},{"key":"5088_CR11","doi-asserted-by":"publisher","first-page":"162207","DOI":"10.1007\/s11432-020-3052-0","volume":"65","author":"M Hu","year":"2022","unstructured":"Hu M, Wang T, and Zhao Y, Consensus of switched multi-agent systems with binary-valued communications, Sci. China Inf. Sci, 2022, 65: 162207.","journal-title":"Sci. China Inf. Sci"},{"issue":"6","key":"5088_CR12","doi-asserted-by":"publisher","first-page":"2390","DOI":"10.1007\/s11424-024-3563-8","volume":"37","author":"S Yuan","year":"2024","unstructured":"Yuan S, Yu C, and Sun J, Hybrid adaptive event-triggered consensus control with intermittent communication and control updating, Journal of Systems Science & Complexity, 2024, 37(6): 2390\u20132405.","journal-title":"Journal of Systems Science & Complexity"},{"issue":"12","key":"5088_CR13","doi-asserted-by":"publisher","first-page":"2014","DOI":"10.1016\/j.automatica.2010.08.008","volume":"46","author":"A Das","year":"2010","unstructured":"Das A and Lewis F L, Distributed adaptive control for synchronization of unknown nonlinear networked systems, Automatica, 2010, 46(12): 2014\u20132021.","journal-title":"Automatica"},{"issue":"4","key":"5088_CR14","doi-asserted-by":"publisher","first-page":"2645","DOI":"10.1109\/TAC.2023.3334992","volume":"69","author":"J Huang","year":"2024","unstructured":"Huang J, Adaptive output synchronization for a class of uncertain nonlinear multi-agent systems over switching networks, IEEE Trans. Autom. Control, 2024, 69(4): 2645\u20132651.","journal-title":"IEEE Trans. Autom. Control"},{"issue":"5","key":"5088_CR15","doi-asserted-by":"publisher","first-page":"3148","DOI":"10.1137\/21M1419763","volume":"60","author":"Y Wang","year":"2022","unstructured":"Wang Y, Li W, and Zhang J F, Distributed adaptive nonlinear control with fusion least-squares, SIAM J. Control Optim., 2022, 60(5): 3148\u20133172.","journal-title":"SIAM J. Control Optim."},{"issue":"3","key":"5088_CR16","doi-asserted-by":"publisher","first-page":"132202","DOI":"10.1007\/s11432-019-2678-2","volume":"63","author":"W Xiao","year":"2020","unstructured":"Xiao W, Cao L, Li H, et al., Observer-based adaptive consensus control for nonlinear multi-agent systems with time-delay, Sci. China Inf. Sci., 2020, 63(3): 132202.","journal-title":"Sci. China Inf. Sci."},{"issue":"2","key":"5088_CR17","doi-asserted-by":"publisher","first-page":"515","DOI":"10.1109\/TCNS.2018.2844260","volume":"6","author":"S Baldi","year":"2019","unstructured":"Baldi S, Yuan S, and Frasca P, Output synchronization of unknown heterogeneous agents via distributed model reference adaptation, IEEE Trans. Control Net. Systems, 2019, 6(2): 515\u2013525.","journal-title":"IEEE Trans. Control Net. Systems"},{"key":"5088_CR18","doi-asserted-by":"publisher","first-page":"133","DOI":"10.1016\/j.automatica.2016.11.019","volume":"77","author":"W Wang","year":"2017","unstructured":"Wang W, Wen C, and Huang J, Distributed adaptive asymptotically consensus tracking control of nonlinear multi-agent systems with unknown parameters and uncertain disturbances, Automatica, 2017, 77: 133\u2013142.","journal-title":"Automatica"},{"key":"5088_CR19","volume-title":"Nonlinear and Adaptive Control Design","author":"M Krstic","year":"1995","unstructured":"Krstic M, Kanellakopoulos I, and Kokotovic P V, Nonlinear and Adaptive Control Design, Wiley, Hoboken, NJ, 1995."},{"key":"5088_CR20","doi-asserted-by":"publisher","first-page":"108618","DOI":"10.1016\/j.automatica.2019.108618","volume":"111","author":"C Wang","year":"2020","unstructured":"Wang C, Wen C, and Guo L, Multivariable adaptive control with unknown signs of the high-frequency gain matrix using novel Nussbaum functions, Automatica, 2020, 111: 108618.","journal-title":"Automatica"},{"issue":"3","key":"5088_CR21","doi-asserted-by":"publisher","first-page":"628","DOI":"10.2514\/1.G001352","volume":"39","author":"Y Ma","year":"2016","unstructured":"Ma Y, Tao G, Jiang B, et al., Multi-model adaptive control for spacecraft under sign errors in actuator response, J. Guid. Control Dynam., 2016, 39(3): 628\u2013641.","journal-title":"J. Guid. Control Dynam."},{"issue":"7","key":"5088_CR22","doi-asserted-by":"publisher","first-page":"1887","DOI":"10.1109\/TAC.2013.2293452","volume":"59","author":"W Chen","year":"2014","unstructured":"Chen W, Li X, Ren W, et al., Adaptive consensus of multi agent systems with unknown identical control directions based on a novel Nussbaum-type function, IEEE Trans. Autom. Control, 2014, 59(7): 1887\u20131892.","journal-title":"IEEE Trans. Autom. Control"},{"key":"5088_CR23","unstructured":"Guo J, Zhang Y, and Zhang J, Distributed output feedback indirect MRAC of continuous-time multiagent linear systems, SIAM J. Control Optim., 2025, http:\/\/lsc.amss.ac.cn\/~jif\/paper\/[J187].pdf."},{"key":"5088_CR24","doi-asserted-by":"publisher","unstructured":"Xu Y, Zhang Y, and Zhang J, Parameter estimation and tracking control of MIMO linear systems without prior knowledge of control signs and parameter bounds, IEEE Trans. Autom. Control, 2025, DOI: https:\/\/doi.org\/10.1109\/TAC.2024.3513039.","DOI":"10.1109\/TAC.2024.3513039"},{"key":"5088_CR25","doi-asserted-by":"publisher","first-page":"348","DOI":"10.1016\/j.automatica.2014.10.079","volume":"51","author":"Z Ding","year":"2015","unstructured":"Ding Z, Adaptive consenus output regulation of a class of nonlinear systems with unknown high-frequency gain, Automatica, 2015, 51: 348\u2013355.","journal-title":"Automatica"},{"issue":"6","key":"5088_CR26","doi-asserted-by":"publisher","first-page":"1677","DOI":"10.1109\/TAC.2014.2360023","volume":"60","author":"L Liu","year":"2015","unstructured":"Liu L, Adaptive cooperative output regulation problem for a class of nonlinear multi-agent systems, IEEE Trans. Autom. Control, 2015, 60(6): 1677\u20131682.","journal-title":"IEEE Trans. Autom. Control"},{"issue":"6","key":"5088_CR27","doi-asserted-by":"publisher","first-page":"3039","DOI":"10.1109\/TAC.2016.2609281","volume":"62","author":"M Guo","year":"2017","unstructured":"Guo M, Xu D, and Liu L, Cooperative output regulation of heterogeneous nonlinear multi-agent systems with unknown control directions, IEEE Trans. Autom. Control, 2017, 62(6): 3039\u20133045.","journal-title":"IEEE Trans. Autom. Control"},{"issue":"3","key":"5088_CR28","doi-asserted-by":"publisher","first-page":"783","DOI":"10.1109\/TAC.2017.2735803","volume":"63","author":"T Liu","year":"2018","unstructured":"Liu T and Huang J, Cooperative output regulation for a class of nonlinear multi-agent systems with unknown control directions subject to switching networks, IEEE Trans. Autom. Control, 2018, 63(3): 783\u2013790.","journal-title":"IEEE Trans. Autom. Control"},{"issue":"7","key":"5088_CR29","first-page":"4191","volume":"68","author":"Z Liu","year":"2023","unstructured":"Liu Z, Huang J, Wen C, et al., Distributed control of nonlinear systems with unknown time-varying control coefficients: A novel Nussbaum function approach, IEEE Trans. Autom. Control, 2023, 68(7): 4191\u20134203.","journal-title":"IEEE Trans. Autom. Control"},{"issue":"5","key":"5088_CR30","doi-asserted-by":"publisher","first-page":"1291","DOI":"10.1109\/TAC.2011.2174666","volume":"57","author":"D V Dimarogonas","year":"2013","unstructured":"Dimarogonas D V, Frazzoli E, and Johansson K H, Distributed event triggered control for multiagent systems, IEEE Trans. Autom. Control, 2013, 57(5): 1291\u20131297.","journal-title":"IEEE Trans. Autom. Control"},{"issue":"10","key":"5088_CR31","doi-asserted-by":"publisher","first-page":"2779","DOI":"10.1109\/TAC.2015.2405294","volume":"60","author":"Y Fan","year":"2015","unstructured":"Fan Y, Liu L, Feng G, et al., Self-triggered consensus for multi-agent systems with Zeno-free triggers, IEEE Trans. Autom. Control, 2015, 60(10): 2779\u20132784.","journal-title":"IEEE Trans. Autom. Control"},{"issue":"2","key":"5088_CR32","doi-asserted-by":"publisher","first-page":"548","DOI":"10.1109\/TAC.2017.2727821","volume":"63","author":"W Hu","year":"2018","unstructured":"Hu W, Liu L, and Feng G, Cooperative output regulation of linear multi-agent systems by intermittent communication: A unified framework of time- and event-triggering strategies, IEEE Trans. Autom. Control, 2018, 63(2): 548\u2013555.","journal-title":"IEEE Trans. Autom. Control"},{"issue":"4","key":"5088_CR33","doi-asserted-by":"publisher","first-page":"1683","DOI":"10.1109\/TAC.2019.2932752","volume":"65","author":"H Meng","year":"2020","unstructured":"Meng H, Zhang H T, Wang Z, et al., Event-triggered control for semiglobal robust consensus of a class of nonlinear uncertain multiagent systems, IEEE Trans. Autom. Control, 2020, 65(4): 1683\u20131690.","journal-title":"IEEE Trans. Autom. Control"},{"issue":"11","key":"5088_CR34","doi-asserted-by":"publisher","first-page":"55995605","DOI":"10.1109\/TAC.2021.3054064","volume":"66","author":"B Wei","year":"2021","unstructured":"Wei B, Xiao F, Fang F, et al., Velocity-free event-triggered control for multiple Euler-Lagrange systems with communication time-delays, IEEE Trans. Autom. Control, 2021, 66(11): 55995605.","journal-title":"IEEE Trans. Autom. Control"},{"issue":"7","key":"5088_CR35","first-page":"4241","volume":"68","author":"Y Hao","year":"2023","unstructured":"Hao Y, Zhang J, and Liu L, Fully distributed event-triggered cooperative output regulation of multiagent systems under jointly connected digraphs, IEEE Trans. Autom. Control, 2023, 68(7): 4241\u20134248.","journal-title":"IEEE Trans. Autom. Control"},{"issue":"4","key":"5088_CR36","doi-asserted-by":"publisher","first-page":"1028","DOI":"10.1109\/TAC.2010.2041986","volume":"55","author":"T R Oliveira","year":"2010","unstructured":"Oliveira T R, Peixoto A J, and Hsu L, Sliding mode control of uncertain multivariable nonlinear systems with unknown control direction via switching and monitoring function, IEEE Trans. Autom. Control, 2010, 55(4): 1028\u20131034.","journal-title":"IEEE Trans. Autom. Control"},{"key":"5088_CR37","first-page":"26742680","volume-title":"Proc. 61th IEEE Conf. Decision Control","author":"G Pin","year":"2022","unstructured":"Pin G, Serrani A, and Wang Y, Parameter-dependent input normalization: Direct-adaptive control with uncertain control direction, Proc. 61th IEEE Conf. Decision Control, 2022, 26742680."},{"key":"5088_CR38","doi-asserted-by":"publisher","first-page":"111657","DOI":"10.1016\/j.automatica.2024.111657","volume":"165","author":"Y Xu","year":"2024","unstructured":"Xu Y, Zhang Y, and Zhang J F, Singularity-free adaptive control of discrete-time linear systems without prior knowledge of the high-frequency gain, Automatica, 2024, 165: 111657.","journal-title":"Automatica"},{"issue":"4","key":"5088_CR39","doi-asserted-by":"publisher","first-page":"1979","DOI":"10.1109\/TAC.2016.2592802","volume":"62","author":"J Huang","year":"2017","unstructured":"Huang J, The cooperative output regulation problem of discrete-time linear multi-agent systems by the adaptive distributed observer, IEEE Trans. Autom. Control, 2017, 62(4): 1979\u20131983.","journal-title":"IEEE Trans. Autom. Control"},{"key":"5088_CR40","doi-asserted-by":"publisher","first-page":"111755","DOI":"10.1016\/j.automatica.2024.111755","volume":"167","author":"K Zhang","year":"2024","unstructured":"Zhang K, Li Z Y, and Zhou B, Fully distributed output regulation of linear discrete-time multiagent systems with time-varying topology and delays, Automatica, 2024, 167: 111755.","journal-title":"Automatica"},{"key":"5088_CR41","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4613-0163-9","volume-title":"Algebraic Graph Theory","author":"C Godsil","year":"2001","unstructured":"Godsil C and Royle G, Algebraic Graph Theory, Springer-Verlag, New York, 2001."},{"issue":"7","key":"5088_CR42","doi-asserted-by":"publisher","first-page":"4630","DOI":"10.1109\/TAC.2023.3347480","volume":"69","author":"X Lu","year":"2024","unstructured":"Lu X, Wang T, and Zhao Y, Event-triggered control for consensus of multi-agent systems with binary-valued measurements, IEEE Trans. Autom. Control, 2024, 69(7): 4630\u20134642.","journal-title":"IEEE Trans. Autom. Control"},{"issue":"2","key":"5088_CR43","doi-asserted-by":"publisher","first-page":"992","DOI":"10.1137\/21M1405083","volume":"60","author":"X He","year":"2022","unstructured":"He X, Xing Y, Wu J, et al., Event-triggered distributed estimation with decaying communication rate, SIAM J. Control Optim., 2022, 60(2): 992\u20131017.","journal-title":"SIAM J. Control Optim."},{"key":"5088_CR44","doi-asserted-by":"publisher","DOI":"10.1002\/0471459100","volume-title":"Adaptive Control Design and Analysis","author":"G Tao","year":"2003","unstructured":"Tao G, Adaptive Control Design and Analysis, John Wiley & Sons, Hoboken, NJ, 2003."}],"container-title":["Journal of Systems Science and Complexity"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11424-025-5088-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11424-025-5088-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11424-025-5088-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,5]],"date-time":"2025-05-05T06:02:49Z","timestamp":1746424969000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11424-025-5088-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,4]]},"references-count":44,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2025,4]]}},"alternative-id":["5088"],"URL":"https:\/\/doi.org\/10.1007\/s11424-025-5088-1","relation":{},"ISSN":["1009-6124","1559-7067"],"issn-type":[{"value":"1009-6124","type":"print"},{"value":"1559-7067","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,4]]},"assertion":[{"value":"12 March 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 April 2025","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"5 May 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"ZHANG Yanjun is a youth editorial board member for Journal of Systems Science & Complexity and was not involved in the editorial review or the decision to publish this article. All authors declare that there are no competing interests.","order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of Interest"}}]}}