Distributed Control of Mobile LTI and LPV Agents Using Induced L2 to L∞ Norms

Publikationstyp
Conference Paper
Date Issued
2020
Sprache
English
Author(s)
Hespe, Christian  orcid-logo
Datar, Adwait  
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-URI
http://hdl.handle.net/11420/8430
Citation
IEEE Conference on Decision and Control (CDC 2020)
Contribution to Conference
59th IEEE Conference on Decision and Control, CDC 2020  
Scopus ID
2-s2.0-85099883809
This paper considers formation control for heterogeneous networks of locally controlled linear time-invariant (LTI) and linear parameter-varying (LPV) agents using a decoupled control architecture. For such networks, bounds on the agents' peak tracking error are derived based on the induced {{\mathcal{L}}_2} to {{\mathcal{L}}_\infty } system norm. Furthermore, we propose linear matrix inequality (LMI) conditions to synthesize local state-feedback controllers that minimize the bound on the tracking error and additionally demonstrate that applying H8 synthesis techniques leads to a comparable performance. Finally, the approach of this paper is illustrated for LTI and LPV agents using two examples.