Note: Werner, Herbert and Seifried, Robert

Abstract: This thesis considers cooperative formation control for networks of locally controlled linear time-invariant (LTI) or linear parameter-varying (LPV) agents, using either a coupled or a decoupled control architecture. For such networks, analysis conditions for bounds on the agents' peak tracking error are derived by splitting the architectures into two components, the consensus protocol and the agent dynamics, and treating both components independently. An essential building block to the analysis is the induced L2 to L$\infty$ system norm, often termed generalized H2-norm. Furthermore, linear matrix inequality (LMI) conditions for synthesizing static state-feedback controllers that minimize said tracking error bounds are proposed based on the analysis results for both LTI and LPV models. Simulations of the two formation control architectures with LTI as well as LPV agents, that demonstrate the validity of the bounds, conclude this thesis.