Decentralized and adaptive nonlinear tracking of large-scale systems via output feedback

Zhong Ping Jiang

doi:10.1109/9.887638

Decentralized and adaptive nonlinear tracking of large-scale systems via output feedback

Zhong Ping Jiang

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

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 constructive approach does not require any matching conditions on the parametric uncertainties nor growth conditions of any kind on the subsystem and interacting output nonlinearities. Any decentralized system in the family may have an unknown, nonzero equilibrium point. Partially decentralized reduced-order filters are presented to recover the unmeasured states. The recursive, decentralized, output-feedback design procedure is illustrated in a practical example of two inverted pendulums on carts without velocity measurements. The effectiveness of the decentralized algorithm is supported by simulation results.

Original language	English (US)
Pages (from-to)	2122-2128
Number of pages	7
Journal	IEEE Transactions on Automatic Control
Volume	45
Issue number	11
DOIs	https://doi.org/10.1109/9.887638
State	Published - Nov 2000

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/9.887638

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abstract = "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 constructive approach does not require any matching conditions on the parametric uncertainties nor growth conditions of any kind on the subsystem and interacting output nonlinearities. Any decentralized system in the family may have an unknown, nonzero equilibrium point. Partially decentralized reduced-order filters are presented to recover the unmeasured states. The recursive, decentralized, output-feedback design procedure is illustrated in a practical example of two inverted pendulums on carts without velocity measurements. The effectiveness of the decentralized algorithm is supported by simulation results.",

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AB - 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 constructive approach does not require any matching conditions on the parametric uncertainties nor growth conditions of any kind on the subsystem and interacting output nonlinearities. Any decentralized system in the family may have an unknown, nonzero equilibrium point. Partially decentralized reduced-order filters are presented to recover the unmeasured states. The recursive, decentralized, output-feedback design procedure is illustrated in a practical example of two inverted pendulums on carts without velocity measurements. The effectiveness of the decentralized algorithm is supported by simulation results.

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Decentralized and adaptive nonlinear tracking of large-scale systems via output feedback

Abstract

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