This　article　studies　coordination　control　of　the　multirobot　system　for　target　tracking　problem　with　disturbances　in　time-varying　communication　environment.　An　adaptive　sliding　mode　control　is　designed　to　complete　the　target　tracking　task　with　the　effect　of　disturbances　and　continuously　time-varying　topologies.　This　means　that　the　communication　between　the　robots　is　not　switching　among　constant　topologies　but　changes　continuously　along　with　time.　The　continuously　time-varying　topology　is　constructed　by　a　set　of　fixed　Laplacian　matrices　and　variable　scheduling　functions,　which　is　known　as　polytopic　model　structure.　The　designed　adaptive　sliding　mode　control　can　effectively　lower　the　influence　of　disturbance　and　improve　tracking　performance　even　under　the　continuously　time-varying　topology.　Furthermore,　numerical　simulations　are　given　to　demonstrate　the　effectiveness　of　the　obtained　results.