Distributed Output Feedback Control of Decomposable LPV Systems with Delay: Application to Multi-agent Nonholonomic Systems

Abstract

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.

Distributed output feedback control of decomposable LPV systems with delay and switching topology: application to consensus problem in multi-agent systems

“…We consider N identical subsystems each of order n. While the scope of our previous work in Zakwan and Ahmed (2019) was limited to the study of decomposable LPV systems with delay under fixed pattern matrix; here we allow the case where the pattern matrix can switch among a set of pattern matrices L = {P σ : σ = 1, 2, . .…”

“…We consider a swarm of five uniformly distributed nonholonomic agents orbiting around an obstacle circularly. We consider switching communication network topology among these agents as opposed to our previous work in Zakwan and Ahmed (2019) where the communication pattern between the agents was assumed to be fixed. The communication pattern can change from the case where an agent can only communicate with its immediate neighbours to the case where all the agents can communicate with each other.…”

“…Distributed control of decomposable LTI systems under a constant delay and switching topology is also proposed in Ghadami and Shafai (2010) but there is no direct way to extend the results of Ghadami and Shafai (2010) to tackle parameter variation in dynamics and delay. We point out that this paper is an extension of our conference paper (Zakwan & Ahmed, 2019). While the scope of our previous work in Zakwan and Ahmed (2019) was limited to the study of delayed LPV decomposable systems with a fixed pattern matrix, we provide a significant extension of it by allowing arbitrary switching among a set of pattern matrices and two new real-world examples that apply this switching topology, which were not included in Zakwan and Ahmed (2019).…”

“…We point out that this paper is an extension of our conference paper (Zakwan & Ahmed, 2019). While the scope of our previous work in Zakwan and Ahmed (2019) was limited to the study of delayed LPV decomposable systems with a fixed pattern matrix, we provide a significant extension of it by allowing arbitrary switching among a set of pattern matrices and two new real-world examples that apply this switching topology, which were not included in Zakwan and Ahmed (2019).…”

A deterministic approach for design of supervisory control of LPV systems with delay

“…At the same time, the significance of linear parameter varying (LPV) systems has been pointed out in numerous contributions, [6][7][8]. Numerous real-life phenomena can be modeled using LPV systems that involve nonlinearities and uncertainties, [9][10][11]. However, it is worth mentioning that various issues pertaining to LPV framework still remain open with regard to stability analysis and synthesizing control law [12].…”