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.