Decentralized dynamic surface control for a class of interconnected nonlinear systems

Decentralized dynamic surface control (DDSC) for a class of interconnected nonlinear systems is presented in this paper. While a centralized design approach of DSC was developed, the decentralized approach to deal with large-scale interconnected systems is proposed under the assumption that interconnected functions among subsystems are unknown but bounded. As done in the centralized approach, augmented error dynamics for N nonlinear subsystems with DDSC are derived and it is shown that these have an additional term due to the interconnected functions compared with the centralized approach. Then, the reachable set for the interconnected nonlinear system with DDSC will be approximated numerically in the form of an ellipsoid in the framework of convex optimization. Finally an illustrative example will be presented