This paper investigates the decentralized asymptotic stabilization problem for a class of nonlinear interconnected systems with unmatched uncertainties by the Lyapunov stability theory and the variable structure system theory. A robust stability condition of the sliding mode and a new robust decentralized sliding controller for each subsystem are derived, such that the local asymptotic stability of the sliding mode and the global asymptotic stability of the composite sliding surface are guaranteed. We have shown that any interconnected system with unmatched uncertainties using the proposed decentralized sliding mode controller will be globally asymptotically stable, as long a unmatched uncertainties are within some bound. Finally, a two-pendulum system is given to illustrate results.
|Number of pages||11|
|Journal||Control, theory and advanced technology|
|State||Published - Sep 1993|