Optimal Decentralized Control for Uncertain Systems by Symmetric Gauss–Seidel Semi-Proximal ALM

Decentralized Robust Control for Uncertain Impulsive Stochastic Systems

This paper works on the decentralized robust H∞ control of interconnected impulsive stochastic systems with uncertainties. The uncertainties are assumed to be time-varying and norm-bounded. For the uncertain interconnected impulsive stochastic system a robust decentralized state feedback controller is designed under which the resulting closed-loop interconnected impulsive stochastic system is i...

Fault tolerant decentralized H∞ control for symmetric composite systems

Fault Tolerant Decentralized Control for Symmetric Composite Systems

This note discusses a class of large-scale systems composed of symmetrically interconnected identical subsystems. We consider the decentralized H1 control design problem and study the fault tolerance of the resulting system. By exploiting the special structure of the systems, a sufficient condition for the existence of a decentralized H1 controller is derived. Moreover, for the nominal case as ...

Optimal decentralized control of large scale systems

This paper presents a new optimized decentralized controller designmethod for solving the tracking and disturbance rejection problems for large-scale linear time-invariant systems, using only low-order decentralized controllers. To illustrate the type of results which can be obtained using the new optimized decentralized control design method, the control of a large flexible space structure is ...

Decentralized robust tracking control for uncertain robots

To realize decentralized robust tracking control for robots with uncertain parameters, a new design method is proposed. A robust tracking controller designed by this method consists of two parts: a feedforward controller and a feedback robust controller. A feedforward control is first applied and error dynamics are introduced. For each joint error subsystem a robust controller is designed in tw...