Decentralized Backstepping Adaptive Output Tracking of Interconnected Nonlinear Systems
Decentralized Backstepping Adaptive Output Tracking of Interconnected Nonlinear Systems
复制标题
DOI：
10.1109/tac.2008.2007524
复制
发表时间：
2008-11
影响因子：
6.8
通讯作者：
Jing Zhou;C. Wen
中科院分区：
文献类型：
--
作者：
Jing Zhou;C. Wen
针对一类非线性互联系统，利用反推方法提出了一种新的完全分散自适应输出跟踪方案。在设计中，引入了一个平滑函数来补偿来自其他子系统的相互作用的影响。结果表明，所设计的局部自适应控制器能保证闭环系统中所有信号有界。作为设计参数的函数的跟踪误差的均方根型的界。这意味着可以通过选择合适的设计参数来调整瞬态跟踪误差性能。
In this paper, we propose a new totally decentralized adaptive output tracking scheme for a class of nonlinear interconnected systems by using a backstepping approach. In the design, a smooth function is introduced to compensate for the effects of interactions from other subsystems. It is shown that the designed local adaptive controllers can ensure all the signals in the closed loop system are bounded. A root mean square type of bound is obtained for the tracking error as a function of design parameters. This implies that the transient tracking error performance can be adjusted by choosing suitable design parameters.