In addressing the coordinated control problem of linear MASs (multi-agent systems) in a dynamic task scenario, this paper proposes a distributed coordination method based on task consensus. Firstly, a mapping between tasks and system states is established to design a task representation method for MASs under distributed directed topologies. An event-triggered approach is designed for task switching in a dynamic task scenario to alleviate communication burden. Secondly, a definition of task consensus is introduced to address the different expected states of system agents under multiple tasks. A coordination control protocol based on task consensus is proposed, utilizing the states and task information of neighboring agents. The stability of this coordination control protocol is theoretically proven, establishing sufficient conditions for the system to achieve task consensus. Lastly, numerical simulations are conducted on a second-order linear MAS with a flocking prey task. Experimental results demonstrate that the proposed task-consensus-based coordination control method achieves stable convergence of task errors in MASs, presenting a novel approach for the coordinated control of MASs with dynamic tasks.