Attallah, AlyAlyAttallahWerner, HerbertHerbertWerner2020-09-102020-09-102020-05European Control Conference (ECC 2020):459-464 (2020)http://hdl.handle.net/11420/7272A distributed formation control scheme is pro-posed for a network of identical nonholonomic agents modeled as linear parameter-varying (LPV) systems. The design problem is formulated in the framework of discrete-time LPV control solved by a gridding technique. The agents are exchanging information through a communication graph which is time-invariant but assumed to be unknown; what is assumed known is only the minimum and maximum eigenvalues of the graph Laplacian. A decomposition approach is employed that makes it possible to solve a synthesis problem that has the size of a single agent, regardless of the number of agents. The results presented here extend previous work on information flow through a group of of linear time-invariant (LTI) agents to LPV agents. Moreover, a novel control architecture is used to synthesize the distributed control scheme and the information flow filter simultaneously, while allowing feedback from agents into the information flow dynamics. The design guarantees (marginal) stability and overall ℓ2 performance of the closed-loop system. Simulation results illustrate the practicality and benefits of the proposed extended information flow scheme by applying it to a network of dynamic unicycles.enConference Paper10.23919/ECC51009.2020.9143664Other