  This paper considers the gain-scheduled leader-follower tracking control
problem for a parameter varying complex interconnected system with directed
communication topology and uncertain norm-bounded coupling between the agents.
A gain-scheduled consensus-type control protocol is proposed and a sufficient
condition is obtained which guarantees a suboptimal bound on the system
tracking performance under this protocol. An interpolation technique is used to
obtain a protocol schedule which is continuous in the scheduling parameter. The
effectiveness of the proposed method is demonstrated using a simulation
example.
