Leader-Follower Consensus for Multi-agent Systems Based on Error Predictor

This paper deals with the leader-follower consensus problem for multi-agent systems under fixed topologies, in which the dynamic characteristic of each agent and the leader can be described by the identical linear system. A consensus protocol based on error predictor is proposed. It is shown that the consensus protocol with the error predictor can improve the convergence speed of the multi-agent systems. The theoretical results are demonstrated through numerical simulations.