Global decentralized robust stabilization for interconnected uncertain nonlinear systems with multiple inputs (Q5947653)

The authors consider the problem of decentralized robust stabilization for a class of large-scale systems with parameter uncertainties and nonlinear interconnections bounded by higher-order polynomials in the decentralized strict feedback form. Using a Lyapunov based backstepping technique, global robust asymptotic stability of the overall closed-loop system is ensured in the absence of matching conditions imposed on the interconnections and uncertainties. The uncertain parameters are possibly time-varying and enter the subsystems in a nonlinear way while the subsystems have a nested structure with multiple inputs. The proposed design technique is illustrated by an example.