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This paper considers the leader-follower control problem for a linearmulti-agent system with undirected topology and linear coupling subject tointegral quadratic constraints (IQCs). A consensus-type control protocol isproposed based on each agent's states relative its neighbors. In addition aselected set of agents uses for control their states relative the leader. Usinga coordinate transformation, the consensus analysis of the multi-agent systemis recast as a decentralized robust control problem for an auxiliaryinterconnected large scale system. Based on this interconnected large scalesystem, sufficient conditions are obtained which guarantee that the systemtracks the leader. These conditions guarantee a suboptimal bound on the systemtracking performance. The effectiveness of the proposed method is demonstratedusing a simulation example.

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