H∞ smooth switching distributed consensus controller for uncertain time-delay switched LPV multi-agent systems

Abstract

This paper presents an approach to design [Formula: see text] smooth switching distributed linear parameter-varying (LPV) controller for consensus of LPV multi-agent systems (MASs) with a large range of parameter variations, uncertainty, input disturbance, and time-varying delay. By dividing the region of variable parameters into subregions with overlaps, a [Formula: see text] smooth switching distributed sliding mode LPV controller with a switched dynamic sliding surface is designed for each subregion and the controller in overlapping subregions is interpolated from two adjacent subregions. This control problem is formulated into parametric linear matrix inequality (LMI), which is solved by convex optimization algorithms. To illustrate the efficacy of the result, it is applied to consensus of practical vertical take-off and landing (VTOL) helicopter MAS.