Title :
Decentralized robust control of interconnected uncertain nonlinear mechanical systems
Author :
Yang, Zi-Jiang ; Fukushima, Youichirou ; Kanae, Shunshoku ; Wada, Kiyoshi
Author_Institution :
Dept. of Electr. & Electron. Syst. Eng., Kyushu Univ., Fukuoka
Abstract :
This paper proposes a new method of decentralized robust control for large-scale interconnected uncertain nonlinear mechanical systems, by using disturbance observers (DOBs). Rigorous stability analysis is given for the overall nonlinear system. Simulation results on a coupled double pendulum system are presented to confirm the established theoretical results.
Keywords :
decentralised control; interconnected systems; nonlinear control systems; observers; robust control; uncertain systems; coupled double pendulum system; decentralized robust control; disturbance observer; large-scale interconnected uncertain nonlinear mechanical system; stability analysis; Adaptive control; Communication system control; Control systems; Distributed control; Interconnected systems; Mechanical systems; Motion control; Nonlinear control systems; Programmable control; Robust control;
Conference_Titel :
Mechatronics and Machine Vision in Practice, 2008. M2VIP 2008. 15th International Conference on
Conference_Location :
Auckland
Print_ISBN :
978-1-4244-3779-5
Electronic_ISBN :
978-0-473-13532-4
DOI :
10.1109/MMVIP.2008.4749601
