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

The consensus of the multiagent system with directed topology and a leader is investigated, in which the leader is dynamic. Based on Laplace transform method, the accurate upper error bound between the leader and the followers can be obtained. It is also proved that all agents of the system will aggregate and eventually form a cohesive cluster following the leader if the leader is globally reachable. Finally, some simulation examples are given to illustrate the theoretical results.