In this article, the problem of time-varying formation (TVF) tracking for nonlinear multi-agent systems (MASs) is investigated. The agent dynamics are described by one-sided Lipschitz (OSL) and quadratic inner-boundedness (QIB) function. Adaptive continuous TVF tracking protocols for nonlinear MASs are proposed. Compared to prior nonlinear system, this approach is more general and less conservative than nonlinear system with large Lipschitz constant. In addition, the continuous protocols are proposed to avoid undesirable chattering from non-zero inputs of the leader. Finally, the expected theoretical results are achieved through effective numerical simulations.
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