Decentralized robust control for a class of uncertain large-scale interconnected nonlinear dynamical systems (Q1359475)

A class of interconnected nonlinear systems is considered. It is supposed that the interconnection perturbation terms are bounded and satisfy additional conditions. For each subsystem, a Lyapunov function ensuring exponential stability of its equilibrium is assumed to be known and a local control proportional to the Lyapunov function gradient is introduced. Using the sum of local Lyapunov functions as a candidate for the system as a whole and Bellman-Gronwall lemma, the authors obtain sufficient stability conditions for the whole system and show that the asymptotic stability can be achieved if the local feedback gains are large enough. The case of linear subsystems is discussed in detail and a numerical example is presented.