Scientific Research Fund of Sichuan Provincial Science & Technology Department (under Grants no.2014GZ0009, no.2015JY025, and no.2015GZ0304), the Scientific Research Fund of Sichuan Provincial Education Department (under Grants no. 14ZA0171 and no. 16ZA0206), the Fund of Robot Technology Used for Special Environment Key Laboratory of Sichuan Province (no. 14zxtk04), the State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (no.2014-009), and the Project Supported by the Scientific Research Foundation of CUIT (nos. KYTZ201410, J201508, and KYTZ201625)
Based on adaptive nonlinear damping, a novel decentralized robust adaptive output feedback stabilization comprising a decentralized robust adaptive output feedback controller and a decentralized robust adaptive observer is proposed for a large-scale interconnected nonlinear system with general uncertainties, such as unknown nonlinear parameters, bounded disturbances, unknown nonlinearities, unmodeled dynamics, and unknown interconnections, which are nonlinear function of not only states and outputs but also unmodeled dynamics coming from other subsystems. In each subsystem, the proposed stabilization only has two adaptive parameters, and it is not needed to generate an additional dynamic signal or estimate the unknown parameters. Under certain assumptions, the proposed scheme guarantees that all the dynamic signals in the interconnected nonlinear system are bounded. Furthermore, the system states and estimate errors can approach arbitrarily small values by choosing the design parameters appropriately large. Finally, simulation results illustrated the effectiveness of the proposed scheme.
Yang Q,Zhu M,Jiang, Tao,et al. Decentralized Robust Adaptive Output Feedback Stabilization for Interconnected Nonlinear Systems with Uncertainties[J]. Journal of Control Science and Engineering,2016,2016:1-12.