Design leader-following consensus protocol via feedback control

This paper addresses the leader-following consensus problem of multi-agent systems, in which the dynamics of each agent and the leader is a linear system. The communication topology considered is directed and weighted. Necessary and sufficient condition for the existence of the leader-following consensus protocol is given and the design of leader-following consensus protocol via feedback control is discussed. Additional requirement is also considered in the protocol design such as convergence rate specification and/or actuator limitations. The theoretical results are demonstrated through numerical simulations.