Gain-scheduled observer-based consensus for linear parameter varying multi-agent systems

Consensus Control of Linear Parameter-Varying Multi-Agent Systems with Unknown Inputs

“…The simulation results in Figure 5 indicate that under the distributed UIO-based controller (18), the follower agent state x i can synchronize the leader agent state x 0 within a finite time. Next, we make a comparison to the work of [32]. In [32], for LPV MASs without unknown disturbances, an observer-based distributed controller whose gain has variable parameters was designed.…”

“…Moreover, in [30], an encryption-decryption scheme is used to realize the fault-tolerant consensus control goal. However, there are few papers that combine MASs with LPV systems [31][32][33][34][35]. In [32], with a limited number of LMIs, a function controller and observer gains with time-varying parameters can be obtained, and the consensus problem for MASs is then solved.…”

Distributed Observer-based Leader-following Consensus Control for LPV Multi-agent Systems: Application to multiple VTOL-UAVs Formation Control

“…where µ > 0. Using the Schur complement [25], considering N h = K h P1 , and M h = P 2 L h and by applying the Polya's theorem on definite quadratic forms in (19) as in [23], ( 16) is obtained, and the proof is completed.…”

“…Furthermore, [22] proposed an observer-based consensus control against actuator faults for Linear Parameter-Varying (LPV) MASs. Moreover, a gain-scheduled observer-based consensus for LPV MASs is investigated in [23], where the controller and observer gains are functions of some time-varying parameter vector that is measured in real-time, Polya's theorem [24] is considered to reduce conservatism compared with the work of [22].…”

“…The main contribution of this paper is the design of a leader-following consensus control for MASs. Linear Matrix Inequalities (LMIs) conditions are obtained to guarantee the existence of the polytopic controller and observer gains for a team of LPV MASs based on leader-following consensus control observer-based inspired by the work of [22] and [23]. The main differences from previous works are the leader-following consensus for MASs, the use of the Schur complement [25] and the Young relation [26] to determine the LMIs conditions considering Polya's theorem.…”