TY - JOUR
T1 - Decentralized control and disturbance attenuation for large-scale nonlinear systems in generalized output-feedback canonical form
AU - Krishnamurthy, P.
AU - Khorrami, F.
N1 - Funding Information:
This work is supported in part by the NSF under grant ECS-9977693. An earlier version of this paper was presented at the IEEE Conference on Decision and Control, Orlando, FL, December 2001. This paper was recommended for publication in revised form by Associate Editor Alessandro Astolfi under the direction of Editor H. K. Khalil.
PY - 2003/11
Y1 - 2003/11
N2 - A global decentralized robust adaptive output-feedback dynamic compensator is proposed for stabilization, tracking, and disturbance attenuation of the decentralized generalized output-feedback canonical form. This represents the largest class for which decentralized robust adaptive output-feedback tracking and disturbance attenuation results are currently available. The system is allowed to contain unknown parameters multiplying output-dependent nonlinearities, and, also, unknown nonlinearities satisfying certain bounds. Under the assumption that a constant matrix can be found for each subsystem to achieve a certain property, it is shown that reduced-order observers and backstepping controllers can be designed to achieve practical stabilization of the tracking error in each subsystem in the presence of bounded disturbance inputs. Sufficient conditions under which asymptotic tracking and stabilization can be achieved are also obtained. Signal gains from disturbance inputs to tracking errors are presented in the input-to-output-practical-stability and integral-input-to-output-practical-stability frameworks. A particular case in which the standard ℒ2-gain disturbance attenuation is achieved is also provided.
AB - A global decentralized robust adaptive output-feedback dynamic compensator is proposed for stabilization, tracking, and disturbance attenuation of the decentralized generalized output-feedback canonical form. This represents the largest class for which decentralized robust adaptive output-feedback tracking and disturbance attenuation results are currently available. The system is allowed to contain unknown parameters multiplying output-dependent nonlinearities, and, also, unknown nonlinearities satisfying certain bounds. Under the assumption that a constant matrix can be found for each subsystem to achieve a certain property, it is shown that reduced-order observers and backstepping controllers can be designed to achieve practical stabilization of the tracking error in each subsystem in the presence of bounded disturbance inputs. Sufficient conditions under which asymptotic tracking and stabilization can be achieved are also obtained. Signal gains from disturbance inputs to tracking errors are presented in the input-to-output-practical-stability and integral-input-to-output-practical-stability frameworks. A particular case in which the standard ℒ2-gain disturbance attenuation is achieved is also provided.
KW - Decentralized control
KW - Disturbance attenuation
KW - Output-feedback
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U2 - 10.1016/S0005-1098(03)00199-7
DO - 10.1016/S0005-1098(03)00199-7
M3 - Article
AN - SCOPUS:0141865684
SN - 0005-1098
VL - 39
SP - 1923
EP - 1933
JO - Automatica
JF - Automatica
IS - 11
ER -