Title :
Decentralized robust control for a class of nonlinear systems
Author :
Tang, Yu ; Tomizuka, Masayoshi
Author_Institution :
Nat. Univ. of Mexico, Mexico City, Mexico
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;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.612452
