𝔖 Bobbio Scriptorium
✦   LIBER   ✦

Decentralized control design of interconnected chains of integrators: A case study

✍ Scribed by Guangyu Liu; Iven Mareels; Dragan Nešić

Publisher
Elsevier Science
Year
2008
Tongue
English
Weight
694 KB
Volume
44
Category
Article
ISSN
0005-1098

No coin nor oath required. For personal study only.

✦ Synopsis

We develop a constructive decentralized control design procedure for a class of systems that may be loosely described as chained integrators which are dynamically coupled. The design method is inspired by nested saturation control ideas and formulated by applying the singular perturbation theory. We demonstrate that the proposed design provides a Lyapunov function for an associated closed loop system from which semi-global stability may be deduced. Using the proposed idea, we design a semi-globally stabilizing control law for a four degree of freedom spherical inverted pendulum.

📜 SIMILAR VOLUMES

Design of decentralized control for symm
Design of decentralized control for symmetrically interconnected systems
✍ A.El Kashlan; M.El Geneidy 📂 Article 📅 1996 🏛 Elsevier Science 🌐 English ⚖ 187 KB

A design procedure for decentralized controllers based on eigenspectrum assignment for a large-scale system composed of symmetrically interconnected subsystems is presented. The procedure is executed at the subsystems level. All subsystems share the global assignment process. to share assigning a p

On optimality of decentralized control f
On optimality of decentralized control for a class of nonlinear interconnected systems
✍ Ali Saberi 📂 Article 📅 1988 🏛 Elsevier Science 🌐 English ⚖ 360 KB

A decentralized control law for a class of nonlinear interconnected systems is proposed. This control law is derived by solving a local optimal control problem for each isolated subsystem with an appropriate performance index. It is shown that the proposed decentralized control law is the unique asy