This paper deals with the problem of leaderless consensus control for a class of nonintrospective linear multi-agent systems (MASs) subject to input saturation and external disturbances. A novel dynamic relative output-feedback saturated consensus control protocol is proposed, which utilizes not only relative system outputs but also relative controller states from neighboring agents for distributed feedback control. With this new controller structure, the associated control synthesis conditions that guarantee optimal disturbance attenuation performance are fully characterized as linear matrix inequalities (LMIs) using a complete form of Lyapunov function matrix, which can be solved efficiently via convex optimization. The proposed approach unifies the designs for both continuous-time and discrete-time MASs. Two application examples are used to demonstrate effectiveness and usefulness of the proposed results.

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