Publication

A distributed gain-scheduled observer-based approach for the practical consensus of LPV multi-agent systems

Journal Article (2025)

Journal

Automatica

Volume

177

Number

112353

Doc link

https://doi.org/10.1016/j.automatica.2025.112353

File

Download the digital copy of the doc pdf document

Authors

  • Pereira Pessim, Paulo Sergio

  • Silva Coutinho, Pedro Henrique

  • Lacerda, Márcio J.

  • Puig Cayuela, Vicenç

  • Martinez Palhares, Reinaldo

Abstract

This paper proposes a distributed gain-scheduled observer-based technique for the practical state consensus of linear parameter-varying (LPV) multi-agent systems (MAS). In the proposed approach, the effects of considering different scheduling parameters for each agent are modeled as an internal disturbance. By applying the concepts of the Lyapunov theory, sufficient conditions are obtained for the design of a gain-scheduled observer-based consensus protocol ensuring that the trajectories of the consensus error converge exponentially to a bounded region, achieving a practical consensus. Numerical experiments illustrate the advantages of the proposed practical consensus over the non-synchronization-based scenario usually obtained when the LPV MAS is subjected to different scheduling parameters.

Categories

control theory.

Author keywords

Multi-agent systems ; Practical consensus ; Distributed control and estimation

Scientific reference

P.S. Pereira, P.H. Silva, M.J. Lacerda, V. Puig and R. Martinez Palhares. A distributed gain-scheduled observer-based approach for the practical consensus of LPV multi-agent systems. Automatica, 177(112353), 2025.