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Decentralized Robust Adaptive Output Feedback Stabilization for Interconnected Nonlinear Systems with Uncertainties
Yang Q(杨强); Zhu M(朱明); Jiang, Tao; He, Jin; Yuan, Jianying; Han JD(韩建达)
作者部门机器人学研究室
发表期刊Journal of Control Science and Engineering
ISSN1687-5249
2016
卷号2016页码:1-12
收录类别EI
EI收录号20163802817602
产权排序1
资助机构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)
摘要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.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/19231
专题机器人学研究室
通讯作者Zhu M(朱明)
作者单位1.School of Control Engineering, Chengdu University of Information Technology, Chengdu, Sichuan, 610225, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Liaoning, 100190, China
推荐引用方式
GB/T 7714
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.
APA Yang Q,Zhu M,Jiang, Tao,He, Jin,Yuan, Jianying,&Han JD.(2016).Decentralized Robust Adaptive Output Feedback Stabilization for Interconnected Nonlinear Systems with Uncertainties.Journal of Control Science and Engineering,2016,1-12.
MLA Yang Q,et al."Decentralized Robust Adaptive Output Feedback Stabilization for Interconnected Nonlinear Systems with Uncertainties".Journal of Control Science and Engineering 2016(2016):1-12.
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