Abstract
We propose a framework to synthesize a block-diagonally structured $\mathcal {H}_\infty$ -controller that consists of a parametric and a block-triangular dynamic component. Moreover, we present an application to $\mathcal {H}_\infty$ -design with controller constraints that arise from a delayed chained interconnection of subsystems that are, by themselves, described by delayed strongly connected communication graphs. We introduce a compact notation to describe the delayed graph structures and give a precise classification of all tractable network-induced constraint sets that can be handled within our framework. Furthermore, the flexibility of our approach is demonstrated through the application to a vehicle platoon with different controller communication scenarios.
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