Robust decentralized control design using integral sliding mode control

Abstract

The problem of robust decentralization of uncertain inter-connected systems is concerned with the goal of de-coupling a Lipschitz non-linear systems into individual "decentralized" subsystems satisfying security and fault-tolerance objectives. This work proposes a new strategy for robust decentralized control in which each subsystem uses an observer-based state estimate structure invoking an approach to separation principle recovery, based on Integral Sliding Model Control (ISMC) with careful consideration of both matched and unmatched uncertainties arising from inter-connections and disturbances. The proposed design strategy for the linear observer and uncertainty de-coupling designs involves a single LMI. An example of 3 unstable inter connected non-linear systems is used to illustrate the power of the approach.