An active disturbance rejection control approach for decentralized tracking in interconnected systems

In this article, the local trajectory tracking control problems -on the part of agents acting on a complex interconnection of nonlinear subsystems- are reformulated as active disturbance rejection control (ADRC) problems. The new approach gives rise to a more effective and practical robust decentralized solution, with virtually no information on local plants interaction dynamics and limited knowledge of each subsystem model. The key idea is that...