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Decentralised disturbance-observer-based adaptive tracking in the presence of unmatched nonlinear time-delayed interactions and disturbances

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  • Hyoung Oh Kim
  • Sung Jin Yoo

Abstract

This paper proposes an approximation-based nonlinear disturbance observer (NDO) approach for decentralised adaptive tracking of uncertain interconnected pure-feedback nonlinear systems with unmatched time-delayed nonlinear interactions and external disturbances. Compared with the existing approximation-based NDO approach for uncertain interconnected nonlinear systems where the centralised design framework was proposed, the main contribution of this paper is to develop a decentralised and memoryless NDO-based adaptive control scheme in the presence of unknown time-varying delayed interactions and disturbances unmatched in the control inputs. The recursive design methodology is derived to construct the decentralised NDO and controller where the function approximators used in the decentralised NDO are employed to design the decentralised adaptive controller. From the Lyapunov stability theorem using Lyapunov--Krasovskii functionals, it is shown that all signals of the closed-loop system are semi-globally uniformly ultimately bounded and the tracking errors converge to an adjustable neighbourhood of the origin.

Suggested Citation

  • Hyoung Oh Kim & Sung Jin Yoo, 2018. "Decentralised disturbance-observer-based adaptive tracking in the presence of unmatched nonlinear time-delayed interactions and disturbances," International Journal of Systems Science, Taylor & Francis Journals, vol. 49(1), pages 98-112, January.
    • Handle: RePEc:taf:tsysxx:v:49:y:2018:i:1:p:98-112
    DOI: 10.1080/00207721.2017.1384965
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    References listed on IDEAS

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    1. Sung Jin Yoo, 2017. "Approximation-based adaptive tracking of a class of uncertain nonlinear time-delay systems in nonstrict-feedback form," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(7), pages 1347-1355, May.
    2. Hyoung Oh Kim & Sung Jin Yoo, 2017. "Approximation-based disturbance observer approach for adaptive tracking of uncertain pure-feedback nonlinear systems with unmatched disturbances," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(8), pages 1775-1786, June.
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