New results in decentralized adaptive nonlinear control with output-feedback

Author

Jiang, Zhong-Ping

Author_Institution

Dept. of Electr. Eng., Polytech. Univ., Brooklyn, NY, USA

Volume

5

fYear

1999

fDate

1999

Firstpage

4772

Abstract

Presents results in decentralized adaptive output feedback control for a general class of large-scale nonlinear systems in disturbed output-feedback form. Severe assumptions required in the literature such as the matching and polynomial-type growth conditions are removed. Nonlinear zero-dynamics are considered and enter every subsystem nonadditively whereas the additivity is a crucial hypothesis in most previous work in both settings of centralized and decentralized adaptive output-feedback control. The effectiveness of the proposed constructive decentralized methodology is illustrated in a practical example of two inverted pendulums on carts without velocity measurements

Keywords

adaptive control; decentralised control; feedback; large-scale systems; nonlinear control systems; observers; pendulums; constructive decentralized methodology; decentralized adaptive nonlinear control; inverted pendulum; large-scale nonlinear systems; nonlinear zero-dynamics; output-feedback; Adaptive control; Centralized control; Control systems; Large-scale systems; Nonlinear control systems; Nonlinear systems; Output feedback; Polynomials; Programmable control; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

Conference_Location

Phoenix, AZ

ISSN

0191-2216

Print_ISBN

0-7803-5250-5

Type

conf

DOI

10.1109/CDC.1999.833297

Filename

833297