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The consensus of the multiagent system with directed topology and aleader is investigated, in which the leader is dynamic. Based on Laplace transformmethod, the accurate upper error bound between the leader and the followers canbe obtained. It is also proved that all agents of the system will aggregate andeventually form a cohesive cluster following the leader if the leader is globallyreachable. Finally, some simulation examples are given to illustrate the theoreticalresults

Consensus of the Multiagent System with a Dynamic Leader Based on Directed Topology Using Laplace Transform