Bounded Amplitude Control using Multiple Linear Agents

This paper discusses recent results on multiple linear agent control satisfying bounded amplitude performance bounds. A model reference control framework is used in which the system's error dynamics are transformed into a linear parameter varying (LPV) system. A collection of setpoints along the reference trajectory are selected and local linear controllers are synthesized which satisfy a bounded amplitude performance criterion for unswitched systems. The results in this paper provide suucient conditions for the switched system to meet the performance constraint. These suucient conditions consist of a dwell-time constraint as well as bounds on discontinuities in the control signal at switching times. Suucient tests are presented for determining if these suucient conditions are satissed and an example is presented illustrating the application of the results.