Decentralized output tracking of a class of nonlinear interconnected systems with similar structure via sliding mode technique

Abstract

This paper addresses the robust output tracking problem for a class of non-linear interconnected systems with similar structure A robust decentralized control scheme for output tracking of a class of nonlinear interconnected system is proposed. It is shown that if uncertainties appear on system, the decentralized controller is able to perform approximate asymptotic tracking, in the sense that the output tracking error remains bounded, provided the upper bounds of the uncertain terms are known.