Decentralized and adaptive nonlinear tracking of large-scale systems via output feedback
Decentralized and adaptive nonlinear tracking of large-scale systems via output feedback
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DOI：
10.1109/9.887638
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发表时间：
2000-11
期刊：
影响因子：
--
通讯作者：
Zhong-Ping Jiang
中科院分区：
文献类型：
--
作者：
Zhong-Ping Jiang
针对一类非线性输出反馈大系统的分散自适应渐近跟踪问题，给出了一种解决方法。所提出的建设性的方法不需要任何匹配条件的参数不确定性，也没有任何形式的增长条件的子系统和相互作用的输出非线性。任何一个分散系统都可能有一个未知的非零平衡点。部分分散降阶滤波器恢复的不可测状态。递归的，分散的，输出反馈的设计过程中示出了一个实际的例子中的两个倒置的小车上没有速度测量。仿真结果证明了该算法的有效性。
Presents a solution to the problem of decentralized adaptive asymptotic tracking for a class of large-scale systems using nonlinear output feedback. The proposed constructive approach does not require any matching conditions on the parametric uncertainties nor growth conditions of any kind on the subsystem and interacting output nonlinearities. Any decentralized system in the family may have an unknown, nonzero equilibrium point. Partially decentralized reduced-order filters are presented to recover the unmeasured states. The recursive, decentralized, output-feedback design procedure is illustrated in a practical example of two inverted pendulums on carts without velocity measurements. The effectiveness of the decentralized algorithm is supported by simulation results.