Guaranteed Performance Leader-follower Control for Multi-agent Systems with Linear IQC-Constrained Coupling

This paper considers the leader-follower control problem for a linear multi-agent system with undirected topology and linear coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on each agent's states relative its neighbors. In addition a selected set of agents uses for control their states relative the leader. Using a coordinate transformation, the consensus analysis of the multi-agent system is recast as a decentralized robust control problem for an auxiliary interconnected large scale system. Based on this interconnected large scale system, sufficient conditions are obtained which guarantee that the system tracks the leader. These conditions guarantee a suboptimal bound on the system tracking performance. The effectiveness of the proposed method is demonstrated using a simulation example.