Output-Feedback Prescribed Performance Decentralized Controller for Interconnected Large-Scale Uncertain Nonlinear Systems With Unknown Input Gain Sign

A novel decentralized output-feedback controller is proposed in this paper for large-scale uncertain general nonautonomous nonlinear systems without prior knowledge of the input gain’s sign. The subsystems are considered to be completely unknown and nonautonomous, except their known full relative degree. uses a higher-order switching differentiator estimate time-derivatives output tracking error, resulting low-complexity prescribed performance that compensates uncertainties, including high-frequency gain sign unstructured uncertainties. It mathematically proven error its all maintained within regions. To demonstrate effectiveness controller, numerical simulations two interconnected inverted pendulums conducted. best authors’ knowledge, presents first results on problem.