Decentralized robust control for a class of nonlinear systems

Author

Tang, Yu ; Tomizuka, Masayoshi

Author_Institution

Nat. Univ. of Mexico, Mexico City, Mexico

Volume

1

fYear

1997

fDate

4-6 Jun 1997

Firstpage

374

Abstract

For systems described by Euler-Lagrange equations and involve high order interconnections in the states, this paper proposes a decentralized control, which guarantees the uniform ultimate stability when the control objective is tracking a smooth desired trajectory. The controller design is based on some physical properties of such systems and Lyapunov design methodology. The performance of the proposed control scheme is illustrated through the longitudinal control of a string of vehicles within an automated highway system

Keywords

Lyapunov methods; control system synthesis; decentralised control; interconnected systems; nonlinear control systems; robust control; Euler-Lagrange equations; Lyapunov design methodology; automated highway system; decentralized robust control; high-order state interconnections; longitudinal control; nonlinear systems; smooth desired trajectory tracking; uniform ultimate stability; Automatic control; Control systems; Design methodology; Distributed control; Nonlinear equations; Nonlinear systems; Road vehicles; Robust control; Stability; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1997. Proceedings of the 1997

Conference_Location

Albuquerque, NM

ISSN

0743-1619

Print_ISBN

0-7803-3832-4

Type

conf

DOI

10.1109/ACC.1997.612452

Filename

612452