This paper presents for the first time a solution to the problem of decentralized adaptive asymptotic tracking for a new class of large-scale systems using nonlinear output feedback. The proposed systematic approach does not require any matching conditions on the parametric uncertainties nor growth conditions of any kind on the subsystem output nonlinearities and interconnecting structures. A partially decentralized output-feedback procedure is formulated and illustrated in a practical example of two inverted pendulums on carts without velocity measurements.
ASJC Scopus subject areas
- Electrical and Electronic Engineering