Decentralized control of interconnected systems with random communication packet dropout

The stability analysis and controller synthesis are thoroughly investigated for large-scale interconnected systems, which subject to random communication packet dropout between subsystems. Spatial variables and spatial shift operators are introduced to model the interconnected systems with packet dropout as multidimensional systems of discrete-time and spatial variables and with Markovian jumping parameter. Analytical criteria are obtained for the whole interconnected system to be mean-square stable and to have the prescribed performance, based on the bounded real lemma for jump systems. Next, a method of designing the decentralized output feedback controller is proposed, which is expressed in terms of linear matrix inequalities. Finally, an example of multi-robot formation control with consideration to the packet dropout is exploited to demonstrate the validity and effectiveness of the proposed model and method.