Semi-global decentralised output feedback stabilisation for a class of uncertain nonlinear systems

Abstract

This paper discusses the problem of semi-global decentralised output feedback control for a class of uncertain nonlinear systems. Based on the ideas of the homogeneous systems theory and the adding a power integrator technique, we first design a homogeneous observer and an output feedback control law for each nominal subsystem without the nonlinearities. Then, using the homogeneous domination approach, we relax the linear growth condition to a polynomial one and construct decentralised stabilisers to render the nonlinear system semi-globally asymptotically stable. Two simulation examples are provided to show the effectiveness of the control scheme.

Keywords:

• semi-global
• nonlinear systems
• homogeneous domination
• decentralised control

Acknowledgements

This work was supported in part by National Natural Science Foundation of China (61104068 and 61273119), Natural Science Foundation of Jiangsu Province (BK2010200), Research Fund for the Doctoral Program of Higher Education of China (20090092120027 and 20110092110021) and China Postdoctoral Science Foundation Funded Project (2012M511176) and the Fundamental Research Funds for the Central Universities.