In this paper, we incorporate velocity observer design into the virtual decomposition control (VDC) strategy of an n-DoF open chain robotic manipulator. Descending from VDC strategy, proposed is based on decomposing manipulator subsystems, i.e., rigid links and joints, for which decentralized controller-observer implementation can be done locally. Similar to VDC, combined passivity-based, show ...

In this paper, a communication complexity view on the problem of decentralized controllability is presented, which uses ideas from information theory and distributed computation. To this end, we present a new approach to revisit a result on the characterization of the necessary and sufficient conditions for the existence of decentralized controllers for stability of linear systems under any cla...

In general, due to the interactions among subsystems, it is difficult to design an decentralized controller for nonlinear interconnected systems. In this study, the model reference tracking control problem of nonlinear interconnected systems is studied via decentralized fuzzy control method. First, the nonlinear interconnected system is represented by an equivalent Takagi–Sugeno type fuzzy mode...

This paper presents an explicit solution to decentralized control of a class of spatially invariant systems. The problem of optimal H2 decentralized control for cone causal systems is formulated. Using Parseval’s identity, the optimal H2 decentralized control problem is transformed into an infinite number of model matching problems with a specific structure that can be solved efficiently. In ad...

Wireless structural sensing has attracted much research interest in recent years. With actuation functionality incorporated in the design of the wireless sensing nodes, a wireless feedback structural control system can be constructed. For wireless structural control systems that face challenges in communication range, latency, and reliability, decentralized system architectures can provide prom...