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Mathematical Problems in Engineering
Volume 2017, Article ID 8489308, 10 pages
Research Article

Cooperative Output Regulation of Multiagent Linear Parameter-Varying Systems

Complex Systems Control Laboratory, College of Engineering, The University of Georgia, Athens, GA 30602, USA

Correspondence should be addressed to Afshin Mesbahi; ude.agu@ihabsem and Javad Mohammadpour Velni; ude.agu@mdavaj

Received 30 June 2016; Revised 13 November 2016; Accepted 27 November 2016; Published 19 January 2017

Academic Editor: Guangming Xie

Copyright © 2017 Afshin Mesbahi and Javad Mohammadpour Velni. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The output regulation problem is examined in this paper for a class of heterogeneous multiagent systems whose dynamics are governed by polytopic linear parameter-varying (LPV) models. The dynamics of the agents are decoupled from each other but the agents’ controllers are assumed to communicate. To design the cooperative LPV controllers, analysis conditions for closed-loop system are first established to ensure stability and reference tracking. Then, the LPV control synthesis problem is addressed, where the offline solution to a time-varying Sylvester equation will be used to determine and update in real time the controller state-space matrices. Two numerical examples will be finally given to demonstrate the efficacy of the proposed cooperative design method.