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The paper considers a problem of consensus-based synchronization of uncertainparameter varying multi-agent systems. We present a method for constructingconsensus-based synchronization protocol schedules for each agent to ensure itsynchronizes with a reference parameter-varying system. The proposed protocolguarantees a specified level of $H_\infty$ transient consensus between theagents. The algorithm uses a consensus-preserving interpolation and producescontinuous (in the scheduling parameter) coefficients for the protocol. Anapplication to synchronization of uncertain bilinear systems is discussed.

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Gain-scheduled synchronization of parameter varying systems via relative  $H_\infty$ consensus with application to synchronization of uncertain  bilinear systems