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New results in decentralized adaptive non-linear stabilization using output feedback

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This paper proposes new results in decentralized adaptive stabilization for a class of large-scale non-linear systems with output measurements. Like previous work, the parametric uncertainty does not satisfy any matching conditions and the uncertain interconnections may be highly non-linear. Unlike most previous results in the literature of decentralized control, the development of our systematic approach does not rely on the crucial assumption that the (unmeasured) zero-dynamics of each individual local system are linear and enter the system additively and linearly. Simulation results based on a practical example of two inverted pendulums on carts demonstrate the effectiveness of the proposed decentralized adaptive stabilization methodology.
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Document Type: Research Article

Affiliations: 1: Department of Electrical and Computer Engineering, Polytechnic University, Six Metrotech Center, Brooklyn, NY 11201, USA 2: Building 33 AFRL/HECP, Air Force Research Laboratory, Wright-Pat erson Air Force Base, Dayton, OH 45433-7022, USA

Publication date: 2001-05-10

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