Robust decentralized control of interconnected nonlinear systems subject to uncertainties and disturbances via generalized extended state observers

This paper studies the problem of robust decentralized control for a class of large-scale interconnected systems subject to uncertainties and disturbances via a generalized active disturbance rejection control method. First, a novel extended state observer (ESO) is constructed separately for each subsystem with less dependence of the precise system information and structure. Second, an explicit formula of the decentralized active disturbance rejection control (DADRC) law is presented by utilizing the output feedback domination approach. It is shown that by a delicate analysis procedure, the closed-loop system can be rendered semi-globally asymptotically stable only using decentralized output feedback anti-disturbance controller. Numerical simulations show the efficiency of the proposed method.