Decentralized filtered feedback linearization for uncertain nonlinear systems |
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| Authors: | Amir H Ghasemi Jesse B Hoagg TM Seigler |
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| Affiliation: | 1. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA;2. Department of Mechanical Engineering, University of Kentucky, Lexington, KY, USA |
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| Abstract: | This paper presents decentralized filtered feedback linearization (D‐FFL), which is a decentralized controller for uncertain nonlinear systems with potentially unknown disturbance. Moreover, D‐FFL uses only local‐state feedback (or, in certain cases, local‐output feedback) and local reference‐model‐input feedforward and requires limited model information. For sufficiently small initial conditions and sufficiently large choice of a scalar control parameter, D‐FFL makes the  norm of the command‐following error arbitrarily small. |
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| Keywords: | control with model uncertainty decentralized control feedback linearization |
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norm of the command‐following error arbitrarily small.