Adaptive Decentralized Output-Feedback Control Dealing With Static/Dynamic Interactions and Different-Unknown Subsystem Control Directions

• 成果类型: Article
• 署名作者: Zhang, Zhirong; Song, Yongduan; Wen, Changyun
• 署名单位: Chongqing University; Chongqing University; Nanyang Technological University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3028563
• 发表日期: 2021
• 页码: 3818-3824
• 关键词: Interconnected systems; Adaptation models; decentralized control; stability analysis; Adaptive control; Backstepping; Decentralized regulation; interconnected subsystem; Nussbaum gain; reduced-order K-filters

摘要

In this article, we present an adaptive decentralized control scheme for a class of interconnected uncertain systems with subsystems having different yet unknown control directions and involving static nonlinear interactions as well as input and output dynamic interactions. A new form of K-filters is designed for each subsystem, and only local information is employed to generate control signals. A new Nussbaum-type function is developed with a key property that allows for the quantification of the interconnections among multiple Nussbaum-type functions for the subsystems with different control directions in a single inequality. By using appropriately chosen Lyapunov functions, global stability of the resulting closed-loop system is rigorously established. Simulation results are included to demonstrate the effectiveness of the proposed methodology.