Abstract
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.
| Original language | English |
|---|---|
| Article number | 9211785 |
| Pages (from-to) | 3818-3824 |
| Number of pages | 7 |
| Journal | IEEE Transactions on Automatic Control |
| Volume | 66 |
| Issue number | 8 |
| Early online date | 2 Aug 2020 |
| DOIs | |
| Publication status | Published - Aug 2021 |
| Externally published | Yes |
Bibliographical note
Recommended by Associate Editor L. Marconi.Publisher Copyright:
© 1963-2012 IEEE.
Funding
This work was supported in part by the National Natural Science Foundation of China under Grant 61860206008, Grant 61773081, Grant 61933012, and Grant 61833013, and in part by China Scholarship Council.
Keywords
- Backstepping
- decentralized regulation
- interconnected subsystem
- Nussbaum gain
- reduced-order K-filters