This brief is devoted to investigating the H_∞ relay tracking control problem of a group of agents in a monitoring region. In order to solve such a problem, we partition the monitoring region into several “tracking zones” based on a Voronoi diagram. Then, we propose a novel impulsive model to describe this relay tracking problem, and define the H_∞ performance for this model. A relay tracking control protocol, which can guarantee the desired H_∞ performance, is designed based on the solution of a set of matrix inequalities. The effectiveness of the proposed relay tracking control algorithm is illustrated by numerical simulations.