Abstract:

The robust decentralized stabilization of large-scale uncertainty feedforward systems is studied. Because the concerned system has a feedforward structure, the bottom-up recursive analysis technique is used, and some stability and boundedness criteria of cascaded nonlinear systems are applied. As a result, the design task is transformed into the stabilization of the bottom subsystem and the nominal part of other subsystems, and simple saturated controllers can be explicitly constructed. Sufficiently using the structural property of the system, the suggested method neither heavily depends on Lyapunov function, nor needs the usual LMI technique. The effectiveness of the algorithm is validated by numerical simulations.