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This paper considers the leader-follower control problem for a linearmulti-agent system with directed communication topology and linear nonidenticaluncertain coupling subject to integral quadratic constraints (IQCs). Aconsensus-type control protocol is proposed based on each agent's statesrelative to its neighbors and leader's state relative to agents which observethe leader. A sufficient condition is obtained by overbounding the costfunction. Based on this sufficient condition, a computational algorithm isintroduced to minimize the proposed guaranteed bound on tracking performance,which yields a suboptimal bound on the system consensus control and trackingperformance. The effectiveness of the proposed method is demonstrated using asimulation example.

Guaranteed Cost Tracking for Uncertain Coupled Multi-agent Systems Using Consensus over a Directed Graph