Gain-scheduled Leader-follower Tracking Control for Interconnected Parameter Varying Systems

This paper considers the gain-scheduled leader-follower tracking control problem for a parameter varying complex interconnected system with directed communication topology and uncertain norm-bounded coupling between the agents. A gain-scheduled consensus-type control protocol is proposed and a sufficient condition is obtained which guarantees a suboptimal bound on the system tracking performance under this protocol. An interpolation technique is used to obtain a protocol schedule which is continuous in the scheduling parameter. The effectiveness of the proposed method is demonstrated using a simulation example.