Gain-scheduled Leader-follower Tracking Control for Interconnected Parameter Varying Systems

TL;DR

This paper develops a gain-scheduled control protocol for interconnected systems with varying parameters, ensuring leader-follower tracking with guaranteed performance bounds, demonstrated through simulation.

Contribution

It introduces a novel gain-scheduled consensus control method with a continuous protocol schedule for complex interconnected systems.

Findings

Guarantees a suboptimal bound on tracking performance.

Uses interpolation to achieve continuous protocol scheduling.

Validated effectiveness through simulation example.

Abstract

This paper considers the gain-scheduled leader-follower tracking control problem for a parameter varying complex interconnected system with directed communication topology and uncertain norm-bounded coupling between the agents. A gain-scheduled consensus-type control protocol is proposed and a sufficient condition is obtained which guarantees a suboptimal bound on the system tracking performance under this protocol. An interpolation technique is used to obtain a protocol schedule which is continuous in the scheduling parameter. The effectiveness of the proposed method is demonstrated using a simulation example.