Decentralized Output Feedback Control of Large-Scale Interconnected Nonlinear Systems with Applications to Multi-Vehicle Systems

This paper studies the problem of global decentralized control by applying time-varying output feedback for large-scale uncertain systems whose subsystems are interconnected not only by their outputs but also by their unmeasurable states. We show that under a linear growth condition, there is a decentralized output feedback controller rendering the closed-loop systems globally exponentially stable. This is accomplished by extending and output feedback domination design which requires little information about the nonlinear systems. Furthermore, we apply our results to a multi-vehicle system to demonstrate the use of our time-varying output feedback controller.

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