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When multi-agent systems are equipped with embedded microprocessors of limited resources, it is important to design an appropriate real-time scheduling of control tasks. In this paper, we examine the synthesis of event-triggered information transmission and distributed estimation for a tracking control problem of leader-follower multi-agent systems. For a second order leader-follower multi-agent system, we use a decentralized event-triggered strategy in the dynamic tracking control design. Then, we analyze the input-to-state stability of the closed-loop multi-agent system with the proposed event-triggered tracking control. Finally, we present a numerical simulation to validate the proposed design.