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The virtual leader for multi-agent system (1) is described by   \\[  \\dot x_r(t)=v_r(t), \\quad \\dot v_r(t)=f(t, x_r(t), v_r(t)). \\tag{2} \\]   The multi-agent system (1) is said to achieve second-order leader-following consensus, if its solution satisfies \\(\\lim_{t\\to\\infty}\\|x_i(t)-x_r(t)\\|=0\\), \\(\\lim_{t\\to\\infty}\\|v_i(t)-v_r(t)\\|=0\\), \\(i=1,\\dots,n\\), for any initial conditions.  With the use of graph theory, matrix theory, and LaSalle's invariance principle, a consensus algorithm based on pinning control is developed in the paper for second-order multi-agent systems with time-varying and constant reference velocities \\(v_r\\). A pinned-agent selection scheme is provided to determine what kind of followers and how many followers should be informed by the virtual leader, sufficient conditions are derived to guarantee the global asymptotic stability of the second-order leader-following consensus.  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