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Pessim, Paulo S. P., Coutinho, Pedro H. S., Lacerda, Marcio J., Puig, Vicenç and Palhares, Reinaldo M. (2025) Distributed leader-following formation of discrete-time multi-agent LPV systems. International Journal of Robust and Nonlinear Control. pp. 1-15. ISSN 1099-1239
This paper addresses the leader‐following formation consensus problem for multi‐agent systems (MASs) with agents represented by discrete‐time linear parameter‐varying (LPV) models. The scenario where each agent can be modeled with distinct time‐varying scheduling parameters is investigated with respect to compensation signals. Using Lyapunov stability arguments, sufficient conditions are derived for designing a distributed gain‐scheduled observer‐based consensus protocol that ensures formation tracking. Furthermore, we explore the case where the effects of the desired formation and different parameters are considered internal perturbations. Under this assumption, we propose sufficient design conditions to ensure that the combined estimation and tracking error dynamics are ℓ ∞ $$ {\ell}_{\infty } $$ ‐norm bounded. The effectiveness of the proposed leader‐following framework is illustrated through numerical examples.
Available under License Creative Commons Attribution 4.0.
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