Decentralized adaptive output feedback design for large-scale nonlinear systems

Sandeep Jain, Farshad Khorrami

Research output: Contribution to journalArticle

Abstract

In this paper, we present a global, decentralized adaptive design procedure for a class of large-scale nonlinear systems, which utilizes only local output feedback. The advocated scheme guarantees robustness to parametric and dynamic uncertainties in the interconnections and also rejects any bounded disturbances entering the system. The systems belonging to this class are those which can be transformed using a global diffeomorphism to the output feedback canonical form, where the interconnections are a function of subsystem outputs only. The uncertainties are assumed to be bounded by an unknown pth-order polynomial in the outputs. The resulting controller maintains global uniform boundedness of all signals of the closed-loop system with good robustness and disturbance rejection properties. The output tracking error is shown to be bounded within a compact set, the size of which can be made arbitrarily small by appropriate choice of the control gains. For the case where the objective is regulation, global asymptotic regulation of all the states of the closed-loop system is achieved.

Original languageEnglish (US)
Pages (from-to)729-735
Number of pages7
JournalIEEE Transactions on Automatic Control
Volume42
Issue number5
DOIs
StatePublished - 1997

Fingerprint

Closed loop systems
Nonlinear systems
Feedback
Disturbance rejection
Gain control
Robustness (control systems)
Polynomials
Controllers
Uncertainty

Keywords

  • Adaptive control
  • Decentralized
  • Large-scale systems
  • Nonlinear

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Decentralized adaptive output feedback design for large-scale nonlinear systems. / Jain, Sandeep; Khorrami, Farshad.

In: IEEE Transactions on Automatic Control, Vol. 42, No. 5, 1997, p. 729-735.

Research output: Contribution to journalArticle

@article{534ca4378a374c119f846afa4e836345,
title = "Decentralized adaptive output feedback design for large-scale nonlinear systems",
abstract = "In this paper, we present a global, decentralized adaptive design procedure for a class of large-scale nonlinear systems, which utilizes only local output feedback. The advocated scheme guarantees robustness to parametric and dynamic uncertainties in the interconnections and also rejects any bounded disturbances entering the system. The systems belonging to this class are those which can be transformed using a global diffeomorphism to the output feedback canonical form, where the interconnections are a function of subsystem outputs only. The uncertainties are assumed to be bounded by an unknown pth-order polynomial in the outputs. The resulting controller maintains global uniform boundedness of all signals of the closed-loop system with good robustness and disturbance rejection properties. The output tracking error is shown to be bounded within a compact set, the size of which can be made arbitrarily small by appropriate choice of the control gains. For the case where the objective is regulation, global asymptotic regulation of all the states of the closed-loop system is achieved.",
keywords = "Adaptive control, Decentralized, Large-scale systems, Nonlinear",
author = "Sandeep Jain and Farshad Khorrami",
year = "1997",
doi = "10.1109/9.580893",
language = "English (US)",
volume = "42",
pages = "729--735",
journal = "IEEE Transactions on Automatic Control",
issn = "0018-9286",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "5",

}

TY - JOUR

T1 - Decentralized adaptive output feedback design for large-scale nonlinear systems

AU - Jain, Sandeep

AU - Khorrami, Farshad

PY - 1997

Y1 - 1997

N2 - In this paper, we present a global, decentralized adaptive design procedure for a class of large-scale nonlinear systems, which utilizes only local output feedback. The advocated scheme guarantees robustness to parametric and dynamic uncertainties in the interconnections and also rejects any bounded disturbances entering the system. The systems belonging to this class are those which can be transformed using a global diffeomorphism to the output feedback canonical form, where the interconnections are a function of subsystem outputs only. The uncertainties are assumed to be bounded by an unknown pth-order polynomial in the outputs. The resulting controller maintains global uniform boundedness of all signals of the closed-loop system with good robustness and disturbance rejection properties. The output tracking error is shown to be bounded within a compact set, the size of which can be made arbitrarily small by appropriate choice of the control gains. For the case where the objective is regulation, global asymptotic regulation of all the states of the closed-loop system is achieved.

AB - In this paper, we present a global, decentralized adaptive design procedure for a class of large-scale nonlinear systems, which utilizes only local output feedback. The advocated scheme guarantees robustness to parametric and dynamic uncertainties in the interconnections and also rejects any bounded disturbances entering the system. The systems belonging to this class are those which can be transformed using a global diffeomorphism to the output feedback canonical form, where the interconnections are a function of subsystem outputs only. The uncertainties are assumed to be bounded by an unknown pth-order polynomial in the outputs. The resulting controller maintains global uniform boundedness of all signals of the closed-loop system with good robustness and disturbance rejection properties. The output tracking error is shown to be bounded within a compact set, the size of which can be made arbitrarily small by appropriate choice of the control gains. For the case where the objective is regulation, global asymptotic regulation of all the states of the closed-loop system is achieved.

KW - Adaptive control

KW - Decentralized

KW - Large-scale systems

KW - Nonlinear

UR - http://www.scopus.com/inward/record.url?scp=0031145394&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0031145394&partnerID=8YFLogxK

U2 - 10.1109/9.580893

DO - 10.1109/9.580893

M3 - Article

VL - 42

SP - 729

EP - 735

JO - IEEE Transactions on Automatic Control

JF - IEEE Transactions on Automatic Control

SN - 0018-9286

IS - 5

ER -