Guaranteed cost tracking for uncertain coupled multi-agent systems using consensus over a directed graph

This paper considers the leader-follower control problem for a linear multi-agent system with directed communication topology and linear nonidentical uncertain coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on each agent's states relative to its neighbors and leader's state relative to agents which observe the leader. A sufficient condition is obtained by overbounding the cost function which guarantees a suboptimal bound on the system consensus control and tracking performance. The effectiveness of the proposed method is demonstrated using a simulation example.