Global decentralised stabilisation for a class of uncertain large-scale feedforward nonlinear systems

摘要

In this paper, the problem of global decentralised stabilisation for a class of uncertain large-scale feedforward nonlinear systems is investigated. The system under consideration is allowed to contain unknown non-Lipschitz continuous nonlinear terms. The design of the global decentralised controllers takes a two steps procedure. First of all, based on the adding a power integrator technique and the homogeneous domination approach a local homogeneous decentralised controller is proposed for each subsystem of the large-scale feedforward nonlinear system. Then, we integrate a series of nested saturation functions with the homogeneous decentralised controllers and adjust the saturation levels to ensure globally asymptotic stability of the closed-loop system. Simulation studies are conducted to illustrate the effectiveness of the proposed control method.