Time-varying Group Formation Tracking Control for Second-order Multi-Agent Systems with Communication Delays and Multiple Leaders Journal Pre-proof Time-varying Group Formation Tracking Control for Second-order Multi-Agent Systems with Communication Delays and Multiple Leaders Liang Han, Yuxin Xie, Xiaoduo Li, Xiwang Dong, Qingdong Li, Zhang Ren PII: S0016-0032(20)30532-9 DOI: https://doi.org/10.1016/j.jfranklin.2020.07.048 Reference: FI 4711 To appear in: Journal of the Franklin Institute Received date: 3 March 2020 Revised date: 4 June 2020 Accepted date: 25 July 2020 Please cite this article as: Liang Han, Yuxin Xie, Xiaoduo Li, Xiwang Dong, Qingdong Li, Zhang Ren, Time-varying Group Formation Tracking Control for Second-order Multi-Agent Systems with Communication Delays and Multiple Leaders, Journal of the Franklin Institute (2020), doi: https://doi.org/10.1016/j.jfranklin.2020.07.048 This is a PDF ﬁle of an article that has undergone enhancements after acceptance, such as the addition of a cover page and metadata, and formatting for readability, but it is not yet the deﬁnitive version of record. This version will undergo additional copyediting, typesetting and review before it is published in its ﬁnal form, but we are providing this version to give early visibility of the article. Please note that, during the production process, errors may be discovered which could affect the content, and all legal disclaimers that apply to the journal pertain. © 2020 Published by Elsevier Ltd on behalf of The Franklin Institute.