Global Dynamic Nonrecursive Realization of Decentralized Nonsmooth Exact Tracking for Large-Scale Interconnected Nonlinear Systems

This paper investigates a global decentralized nonsmooth tracking algorithm for a class of interconnected nonlinear systems with strongly coupled interactions. As a main contribution, a nonrecursive dynamic exact tracking control design is proposed for the decentralized control issue which facilitates an intrinsic separation of control law design and stability analysis. First, a fully decentralized extended high-gain observer is constructed to enable the dynamic controller design and performance recovery with the presence of additional disturbances. Then by integrating a nonrecursive homogeneous domination strategy, now the decentralized tracking control law can be designed in a very simple and explicit manner whereas the control gains follow the conventional pole placement approach. Moreover, the nonsmooth design framework will render a finite-time convergence rate of the output tracking which is of significance in practices. The effectiveness of the controller is demonstrated by a rigorous stability analysis and simulation verifications.