Mendez Gonzalez, AntonioAntonioMendez GonzalezWerner, HerbertHerbertWerner2023-01-242023-01-242014IFAC Proceedings Volumes 19: 1997-2002 (2014)http://hdl.handle.net/11420/14660This paper studies a formation control problem for nonlinear multi-agent systems; specifically non-holonomic vehicles represented as linear parameter-varying (LPV) models are of interest here. The objective of this study is twofold. First, we demonstrate the applicability of a novel approach to distributed control for LPV decomposable systems (Hoffmann et al, 2013). Second, we investigate different LPV representations of non-holonomic vehicles. We consider a group of agents in a leader-follower configuration which communicate through a directed time-varying but diagonalizable interconnection topology, where follower vehicles must achieve a desired formation and track the path determined by the leader agent. In addition, the leader vehicle is equipped with an LPV flatness-based controller to track a reference trajectory. The problem is formulated in terms of linear fractional transformations (LFT) for LPV systems with the objective of minimizing the closed-loop induced C2 gain. Simulation results with a formation of non-holonomic discs illustrate the proposed approach.en1474-6670201419972002Distributed controlLPVMobile robotsNonlinear controlSwitching networksConference Paper10.3182/20140824-6-za-1003.01453Conference Paper