Title: Decentralised robust control of interconnected uncertain non-linear mechanical systems

Authors: Zi-Jiang Yang, Youichirou Fukushima, Shunshoku Kanae, Kiyoshi Wada

Addresses: Department of Intelligent Systems Engineering, College of Engineering, Ibaraki University, 4-12-1 Nakanarusawa, Hitachi, Ibaraki 316 8511, Japan. ' Department of Electrical and Electronic Systems Engineering, Graduate School of Information Science and Electrical Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819 0395, Japan. ' Department of Electrical, Electronics and Computer Engineering, Fukui University of Technology, 3-6-1 Gakuen, Fukui 910 8505, Japan. ' Department of Electrical and Electronic Systems Engineering, Graduate School of Information Science and Electrical Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819 0395, Japan

Abstract: This paper proposes a new method of decentralised robust control for large-scale interconnected uncertain non-linear mechanical systems, by using disturbance observers. Rigorous stability analysis is given for the overall non-linear system. Simulation results on a coupled double pendulum system are presented to confirm the established theoretical results.

Keywords: interconnected systems; robust control; decentralised control; disturbance observer; input-to-state-stability; uncertain nonlinear systems; uncertain mechanical systems; stability analysis; simulation.

DOI: 10.1504/IJISTA.2010.030194

International Journal of Intelligent Systems Technologies and Applications, 2010 Vol.8 No.1/2/3/4, pp.114 - 129

Published online: 11 Dec 2009 *

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