  This paper proposes a new approach to analyze and synthesize robust consensus
control laws for general linear leaderless multi-agent systems (MASs) subjected
to input constraints or uncertainties. First, the MAS under input constraints
or uncertainties is reformulated as a network of Lur'e systems. Next, two
scenarios of communication topology are considered, namely undirected and
directed cyclic structures. In each case, a sufficient condition for consensus
and the design of consensus controller gain are derived from solutions of a
distributed LMI convex problem. Finally, a numerical example is introduced to
illustrate the effectiveness of the proposed theoretical approach.
