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Adaptive Decentralized Controller Design for a Class of Switched Interconnected Nonlinear Systems.
IEEE Transactions on Cybernetics
|November 17, 2018
Summary
This study presents a novel decentralized adaptive control for nonlinear systems with unknown control directions and frequent actuator failures. The proposed method ensures system stability despite arbitrary switching and infinite failures.
Area of Science:
- Control Engineering
- Nonlinear Systems Theory
- Adaptive Control
Background:
- Switched interconnected nonlinear systems present significant control challenges due to arbitrary switching and potential actuator failures.
- Designing controllers for systems with unknown control directions and infinite failure occurrences is a complex problem in robust control.
Purpose of the Study:
- To develop a switched decentralized adaptive control scheme for interconnected nonlinear systems.
- To address arbitrary switching, unknown control directions, and potentially infinite actuator failures.
- To ensure asymptotic stability of the closed-loop system states.
Main Methods:
- Introduction of a Nussbaum-type function to handle unknown control directions.
- Utilization of an integrable auxiliary signal to manage actuator failures.
- Design of distinct parameter update laws and control laws for switched subsystems.
- Application of Lyapunov stability theory to prove system stability.
Main Results:
- The proposed control scheme effectively handles unknown control directions and infinite actuator failures.
- Asymptotic stability of the closed-loop system states is rigorously proven.
- The control strategy demonstrates robustness under arbitrary switching conditions.
Conclusions:
- The developed switched decentralized adaptive control is effective for complex nonlinear systems.
- The method provides a robust solution for systems with challenging uncertainties and failures.
- Numerical simulations confirm the efficacy of the proposed control scheme.
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