Hierarchical Decomposition Based Consensus Tracking for Uncertain Interconnected Systems via Distributed Adaptive Output Feedback Control
Hierarchical Decomposition Based Consensus Tracking for Uncertain Interconnected Systems via Distributed Adaptive Output Feedback Control
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DOI：
10.1109/tac.2015.2479535
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发表时间：
2016-07
影响因子：
6.8
通讯作者：
Wen Wang;C. Wen;Jiangshuai Huang;Zhengguo Li
中科院分区：
文献类型：
--
作者：
Wen Wang;C. Wen;Jiangshuai Huang;Zhengguo Li
本文针对具有未知参数、不确定子系统互连和外部干扰的多线性系统的输出一致性跟踪，开发了分布式自适应控制器。允许子系统具有不相同的动力学和相同但任意的顺序。对于局部反馈控制，假设只有部分子系统可以直接访问时变轨迹信息，且子系统状态不可测。在我们的设计中，对表示子系统之间信息传输状态的有向图进行预处理，将其分解成一个层次结构。这样就可以按顺序计算出各层子系统的局部自适应控制器，成功地克服了以往共识工作中难以导出相互依赖的局部控制器的问题。在每个子系统中，引入额外的估计来解释其邻居动力学中的未知参数和状态。此外，只需要从相邻子系统收集本地输出和输入的信息。在分布式自适应律中加入一定的鲁棒项，以减轻不确定子系统相互作用和干扰的影响。证明了当不确定子系统互连强度足够弱时，该方案能保证所有闭环信号有界。整个子系统组的跟踪误差将收敛到一个紧凑的集合，通过适当选择设计参数可以调整瞬态跟踪误差性能。
In this note, distributed adaptive controllers are developed for output consensus tracking of multiple linear systems with unknown parameters, uncertain subsystem interconnections and external disturbances. The subsystems are allowed to have non-identical dynamics and the same yet arbitrary order. It is assumed that only part of subsystems can have direct access to the time-varying trajectory information and the subsystem states are unmeasurable for local feedback control. In our design, the directed graph representing the information transmission status among subsystems is preprocessed by splitting it into a hierarchical structure. Then local adaptive controllers of subsystems in different layers can be computed in a sequential order and the difficulty on deriving mutually dependent local controls in previous consensus works are successfully overcome. In each subsystem, additional estimates are introduced to account for the unknown parameters and states in its neighbors' dynamics. Besides, only the information of local outputs and inputs need be collected from the neighboring subsystems. Certain robust terms are added in distributed adaptive laws to mitigate the effects of uncertain subsystem interactions and disturbances. It is proved that with our scheme, all closed-loop signals can be ensured bounded when the strengths of uncertain subsystem interconnections are sufficiently weak. The tracking errors for the entire group of subsystems will converge to a compact set and the transient tracking error performance can be adjusted by appropriately choosing design parameters.