Decentralised robust control of interconnected uncertain non-linear mechanical systems
by Zi-Jiang Yang, Youichirou Fukushima, Shunshoku Kanae, Kiyoshi Wada
International Journal of Intelligent Systems Technologies and Applications (IJISTA), Vol. 8, No. 1/2/3/4, 2010

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.

Online publication date: Fri, 11-Dec-2009

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