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This paper considers the gain-scheduled leader-follower tracking controlproblem for a parameter varying complex interconnected system with directedcommunication topology and uncertain norm-bounded coupling between the agents.A gain-scheduled consensus-type control protocol is proposed and a sufficientcondition is obtained which guarantees a suboptimal bound on the systemtracking performance under this protocol. An interpolation technique is used toobtain a protocol schedule which is continuous in the scheduling parameter. Theeffectiveness of the proposed method is demonstrated using a simulationexample.

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