Adaptive Decentralized Controller Design for a Class of Switched Interconnected Nonlinear Systems
Adaptive Decentralized Controller Design for a Class of Switched Interconnected Nonlinear Systems
复制标题
DOI：
10.1109/tcyb.2018.2878578
复制
发表时间：
2020-04
影响因子：
11.8
通讯作者：
Ding Zhai;Xuan Liu;Yanjun Liu
中科院分区：
文献类型：
--
作者：
Ding Zhai;Xuan Liu;Yanjun Liu
研究了任意切换情形下的切换互联非线性系统的切换分散自适应控制设计问题，其中执行器故障可能发生无限次，且允许控制方向未知.通过引入Nussbaum型函数和可积辅助信号，提出了一种切换分散自适应控制方案，以处理执行器可能无限次失效和控制方向未知的问题.其基本思想是针对不同的切换子系统设计不同的参数更新律和控制律。证明了所得到的闭环系统的状态变量是渐近稳定的。最后，对一个二级倒立摆模型进行了数值仿真，验证了所提出的控制方案的有效性。
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.