Distributed control of linear parameter-varying decomposable systems

This work presents a linear parameter-varying (LPV) approach to distributed control that extends the notion of decomposable systems to decomposable LPV systems. We provide results for the synthesis of distributed output-feedback LPV controllers for heterogeneously scheduled distributed LPV systems in linear fractional (LFT) representation. This result includes multi-agent systems (MAS) as a special case and therefore allows gain-scheduled control when each agent's LPV dynamics is dependent on individual parameter values. This in turn, makes it possbile to consider nonlinear agent models if they can be represented as quasi-LPV models. Furthermore, we propose robust stability and performance conditions for switching interaction topologies. We also provide a convex analysis condition with decomposable parameter-dependent Lyapunov functions for reduced conservatism.