Adaptive Decentralized Controller Design for a Class of Switched Interconnected Nonlinear Systems | IEEE Journals & Magazine | IEEE Xplore

Adaptive Decentralized Controller Design for a Class of Switched Interconnected Nonlinear Systems


Abstract:

This paper is concerned with the switched decentralized adaptive control design problem for switched interconnected nonlinear systems under arbitrary switching, where the...Show More

Abstract:

This paper is concerned with the switched decentralized adaptive control design problem for switched interconnected nonlinear systems under arbitrary switching, where the actuator failures may occur infinite times and the control directions are allowed to be unknown. By introducing a Nussbaum-type function and an integrable auxiliary signal, a switched decentralized adaptive control scheme is developed to deal with the potentially infinite times of actuator failures and the unknown control directions. The basic idea is to design different parameter update laws and control laws for distinct switched subsystems. It is proved that the state variables of the resulting closed-loop system are asymptotically stable. Finally, a numerical simulation on a double-inverted pendulum model is given to verify the proposed control scheme.
Published in: IEEE Transactions on Cybernetics ( Volume: 50, Issue: 4, April 2020)
Page(s): 1644 - 1654
Date of Publication: 13 November 2018

ISSN Information:

PubMed ID: 30442629

Funding Agency:


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