Brief paper: Decentralized dynamic output feedback for robust stabilization of a class of nonlinear interconnected systems

  • Authors:

  • Srdjan S. Stanković;Dušan M. Stipanović;Dragoslav D. Šiljak

  • Affiliations:

  • Faculty of Electrical Engineering, University of Belgrade, Serbia;Department of Industrial and Enterprise Systems Engineering and the Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Illinois, USA;School of Engineering, Santa Clara University, Santa Clara, CA, USA

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2007

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Abstract

The objective of this paper is to propose an approach to robust stabilization of systems which are composed of linear subsystems coupled by nonlinear time-varying interconnections satisfying quadratic constraints. The proposed algorithms, which are formulated within the convex optimization framework, employ linear dynamic feedback structure involving local Luenberger-type observers. It is also shown how the new methodology can produce improved results if interconnections have linear parts that are known a priori. Examples of output stabilization of inverted pendulums and decentralized control of a platoon of vehicles are used to illustrate the applicability of the design method.