Distributed output feedback control of decomposable lpv systems with delay: application to multi-agent nonholonomic systems


This paper presents distributed output feedback control of a class of distributed linear parameter varying systems with a parameter-dependent time-varying delay. A delaydependent bounded-real lemma approach, based on parameterdependent Lyapunov-Krasovskii functionals, is used to formulate the synthesis condition in terms of linear matrix inequalities. We demonstrate the efficacy of our result by applying it to formation control of multi-agent nonholonomic mobile robots.

Date of Conference: 25-28 June 2019
Conference name:Control Conference (ECC), European
Delay, Distributed control, Linear parameter varying, Linear matrix inequalities