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Decentralized filtered feedback linearization for uncertain nonlinear systems
Author(s) -
Ghasemi Amir H.,
Hoagg Jesse B.,
Seigler T.M.
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.3928
Subject(s) - control theory (sociology) , feedback linearization , feed forward , linearization , nonlinear system , scalar (mathematics) , computer science , norm (philosophy) , output feedback , decentralised system , control engineering , mathematics , control (management) , engineering , artificial intelligence , law , physics , geometry , quantum mechanics , political science
Summary This paper presents decentralized filtered feedback linearization (D‐FFL), which is a decentralized controller for uncertain nonlinear systems with potentially unknown disturbance. Moreover, D‐FFL uses only local‐state feedback (or, in certain cases, local‐output feedback) and local reference‐model‐input feedforward and requires limited model information. For sufficiently small initial conditions and sufficiently large choice of a scalar control parameter, D‐FFL makes the ℒ ∞ norm of the command‐following error arbitrarily small.