Decentralised robust sliding mode control for a class of nonlinear interconnected systems by static output feedback

Authors:
Xing-Gang Yan;Christopher Edwards;Sarah K. Spurgeon
Affiliations:
Control and Instrumentation Group, Department of Engineering, University of Leicester, Leicester LE1 7RH, UK;Control and Instrumentation Group, Department of Engineering, University of Leicester, Leicester LE1 7RH, UK;Control and Instrumentation Group, Department of Engineering, University of Leicester, Leicester LE1 7RH, UK
Venue:
Automatica (Journal of IFAC)
Year:
2004

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Abstract

In this paper, a class of nonlinear interconnected systems with nonlinear nominal subsystems is considered. Matched and mismatched uncertainties are both dealt with. Based on sliding mode techniques, a decentralised robust control scheme, using only output information, is presented to stabilise the system locally, but under certain circumstances, global results can be obtained. The approach allows a more general structure for the interconnections and uncertainty bounds than other literature in this area. The conservatism in the results is reduced by fully using system output information and the uncertainty bounds. A numerical example is used to demonstrate the efficacy of the method.