Distributed Observer-based Leader-following Consensus Control for LPV Multi-agent Systems: Application to multiple VTOL-UAVs Formation Control

This paper presents a distributed observer-based leader-following consensus control for linear parameter-varying multi-agent systems. The stability of the observer and the controller is proved by the Lyapunov theory. It is shown that the design conditions of the estimated states and consensus control are expressed in a set of linear matrix inequalities considering Polya’s theorem for less conservatism. To show the effectiveness of the proposed strategy, the formation control problem on a team of vertical take-off and landing unmanned aerial vehicles are considered in the simulation results.