Uncertain Interconnected Nonlinear Systems Research Articles

Decentralized model-based control of a class of large-scale interconnected systems

Abstract A decentralized model-based control method for stabilization and tracking control of a class of large-scale interconnected nonlinear uncertain systems is proposed, following a generalized model-based control approach for robot manipulator control. The subsystem interconnections satisfy the ‘matching conditions’, and may be nonlinear and uncertain. Three controllers are derived, with a built-in trade-off between simplicity of implementation on the one hand and accuracy of tracking/stabilization on the other. In the independent servo control method, the subsystem interactions are treated as disturbances, so possibly large gains are required under purely local feedback. In the offline feedforward compensation method, feedforward compensation is applied for nominal interactions, so much lower local feedback gains are required. In the online feedforward compensation method, the compensation is made online, improving closed loop system performance further. Local bounded stability of the interconnected ...

Decentralized adaptive robust control and its applications to an uncertain flexible beam

We consider a class of nonlinear uncertain interconnected systems with time-varying uncertainty. The uncertainty may arise within each system as well as in the interconnections. The uncertainty is assumed to be bounded but the bound is unknown. No a priori statistical information is imposed. Decentralized adaptive robust control is proposed for each system. The control has two parts. First, an adaptive scheme for the estimation of the bound is constructed. Second, a robust control, which is based on the adaptive parameter, is adopted for each system. The control is then applied to an uncertain flexible beam.

Decentralized Adaptive Robust Control Design: The Uncertainty is Time Varying

We consider a class of nonlinear uncertain interconnected systems with time-varying uncertainty. The uncertainty may arise within each system as well as in the interconnections. The uncertainty is assumed bounded but the bound is unknown. No a priori statistical information is imposed. Decentralized adaptive robust control is proposed for each system. The control has two parts. First, an adaptive scheme for the estimation of the bound is constructed. Second, a robust control, which is based on the adaptive parameter, is adopted for each system.