Decentralized output-feedback adaptive control for a class of interconnected nonlinear systems with unknown actuator failures

被引：110

作者：

Wang, Chenliang ^{[1
]}

Wen, Changyun ^{[2
]}

Guo, Lei ^{[1
]}

机构：

[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China

[2] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore

来源：

AUTOMATICA | 2016年 / 71卷

基金：

中国国家自然科学基金;

关键词：

Interconnected systems; Actuator failures; Adaptive control; Decentralized control; Backstepping; AIRCRAFT CONTROL APPLICATION; TRACKING CONTROL; STATE-FEEDBACK; CONTROL SCHEME; COMPENSATION; DESIGN;

D O I：

10.1016/j.automatica.2016.04.027

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a decentralized output-feedback adaptive backstepping control scheme is proposed for a class of interconnected nonlinear systems with unknown actuator failures. By introducing a kind of high gain K-filters, a bound estimation approach and some smooth functions, the effect of actuator failures and interactions among subsystems is successfully compensated for and the actuators are allowed to change among the normal operation case and different failure cases infinitely many times. The proposed scheme is able to guarantee the global stability of the overall closed-loop system, regardless of the possibly infinite number of unknown actuator failures. An initialization technique is also introduced so that the L-infinity performance of tracking errors can be adjusted no matter if there exist unknown actuator failures. Simulation results performed on double inverted pendulums are presented to illustrate the effectiveness of the proposed scheme. (C) 2016 Elsevier Ltd. All rights reserved.

引用

页码：187 / 196

页数：10

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