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Pessim, Paulo S. P., Coutinho, Pedro H. S., Lacerda, Marcio J., Puig, Vicenç and Palhares, Reinaldo M. (2025) A distributed gain-scheduled observer-based approach for the practical consensus of LPV multi-agent systems. Automatica, 177 (112353). pp. 1-8. ISSN 1873-2836
This paper proposes a distributed gain-scheduled observer-based technique for the practical state consensus of linear parameter-varying (LPV) multi-agent systems (MAS). In the proposed approach, the effects of considering different scheduling parameters for each agent are modeled as an internal disturbance. By applying the concepts of the Lyapunov theory, sufficient conditions are obtained for the design of a gain-scheduled observer-based consensus protocol ensuring that the trajectories of the consensus error converge exponentially to a bounded region, achieving a practical consensus. Numerical experiments illustrate the advantages of the proposed practical consensus over the non-synchronization-based scenario usually obtained when the LPV MAS is subjected to different scheduling parameters.
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