New results in decentralized adaptive non-linear stabilization using output feedback
Abstract: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.
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: May 10, 2001