Decentralized global output feedback stabilization for a class of uncertain nonlinear systems

Abstract

This paper considers the problem of decentralized global stabilization via output feedback for a class of uncertain nonlinear systems with unknown output functions, in which the nonlinear terms are interconnected by unmeasurable states and the inputs of each subsystem. First, we design the controller for each nominal subsystem without the perturbing nonlinearities. Then, we apply the homogeneous domination approach to design scaled homogeneous observers and controllers with an appropriate choice of gain to render the nonlinear system globally asymptotically stable. Finally, two simulation examples are shown to illustrate the effectiveness of the proposed scheme.