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Robust estimation‐free decentralized prescribed performance control of nonaffine nonlinear large‐scale systems
Author(s) -
Wei Caisheng,
Luo Jianjun,
Yin Zeyang,
Wei Xing,
Yuan Jianping
Publication year - 2017
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3860
Subject(s) - control theory (sociology) , nonlinear system , computer science , tracking error , residual , controller (irrigation) , convergence (economics) , manifold (fluid mechanics) , decentralised system , robust control , robustness (evolution) , rate of convergence , observer (physics) , scheme (mathematics) , mathematical optimization , mathematics , control (management) , algorithm , channel (broadcasting) , engineering , artificial intelligence , economic growth , computer network , mathematical analysis , chemistry , biology , biochemistry , quantum mechanics , agronomy , mechanical engineering , physics , economics , gene
Summary In this paper, a low‐complexity robust estimation‐free decentralized prescribed performance control scheme is proposed and analyzed for nonaffine nonlinear large‐scale systems in the presence of unknown nonlinearity and external disturbance. To tackle the high‐order dynamics of each tracking error subsystem, a time‐varying stable manifold involving the output tracking error and its high‐order derivatives is constructed, which is strictly evolved within the envelope of user‐specialized prescribed performance. Sequentially, a robust decentralized controller is devised for each manifold, under which the output tracking error and its high‐order derivatives are proven to converge asymptotically to a small residual domain with prescribed fast convergence rate. Additionally, no specialized approximation technique, adaptive scheme, and disturbance observer are needed, which alleviates the complexity and difficulty of robust decentralized controller design dramatically. Finally, 3 groups of illustrative examples are used to validate the effectiveness of the proposed low‐complexity robust decentralized control scheme for uncertain nonaffine nonlinear large‐scale systems.