Gebhardt, GeraldGeraldGebhardtSaadabadi, HamidehHamidehSaadabadiWerner, HerbertHerbertWerner2023-01-242023-01-242022-12IEEE 61st Conference on Decision and Control (CDC 2022)http://hdl.handle.net/11420/14629This paper proposes a distributed scheme with different estimators for the event-triggered formation control of polytopic homogeneously scheduled linear parameter-varying (LPV) multi-agent systems (MAS). Each agent consists of a time-triggered inner feedback loop and a larger event-triggered outer feedback loop to track a formation reference signal and reject input and output noise. If a local event-trigger condition is violated, the event-triggered outer feedback loop is closed through the communication network. The event-trigger condition is only based on locally available information. To design the controller, a synthesis problem is formulated as a linear matrix inequality of the size of a single agent under the assumption, that local estimators trigger intercommunication events with neighboring agents if the event-trigger condition is violated. The design procedure guarantees stability and bounded l 2 - performance. Furthermore, the estimators are interchangeable for a given controller. We compare in simulation zero-order hold, open-loop estimation, and closed-loop estimation strategies. Simulation trials are carried out with non-holonomic dynamic unicycles modeled as polytopic LPV systems.enIngenieurwissenschaftenConference Paper10.1109/CDC51059.2022.9992894Other