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A path following algorithm with a time-varying reference state is proposed, and the path tracking of multiagent systems with exogenous disturbance is analyzed. Under the influence of the disturbances, a disturbance observer is developed to estimate the exogenous disturbances. Asymptotical consensus of the multiagent systems with time-varying reference state and exogenous disturbances under the disturbance observers-based control (DOBC) can be achieved for fixed and switching topologies. Finally, by applying an example of multiagent systems with switching topologies and exogenous disturbances, the consensus tracking of multiagent systems with time-varying reference state is reached under the DOBC with the designed 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