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In this paper, the use of a robust optimal control as a tool to design a trajectory tracking control for multiple agent systems is discussed. Our approach is based on a leader/follower structure of the multiple robot systems. It is shown that for multiple agent system with cyclic and chain topology of information exchange the result is achieved. A Lyapunov based optimal control design for coordination and trajectory tracking of multiple agent systems with parametric uncertainty is presented. Subsequently, this result is extended to the case of time-delay multi-agent system using the value set characterization to verify the robust stability of the closed loop system. The results are illustrated with several examples and simulations.