Regular Papers

International Journal of Control, Automation and Systems 2019; 17(1): 29-37

Published online January 3, 2019

https://doi.org/10.1007/s12555-017-0787-6

© The International Journal of Control, Automation, and Systems

Decentralized Adaptive Control of Interconnected Nonlinear Systems with Unknown Control Directions and Actuator Failure

Guiju Xu, Jiangshuai Huang*, and Xiaojie Su

Chongqing University

Abstract

In this paper, we propose a decentralized adaptive control scheme for a class of interconnected nonlinear systems without a priori knowledge of subsystems’ control directions and unknown actuator failure. To address this problem, a novel Nussbaum-type function is proposed and a key theorem is drawn which involves quantifying the interconnections of multiple Nussbaum-type functions of the subsystems with different control directions in a single inequality. The effect of actuator failures is successfully compensated. Global stability of the closed-loop system and asymptotic stabilization of subsystems’ output are proved and a simulation example is given to illustrate the effectiveness of the proposed control scheme."

Keywords Actuator failure, adaptive control, decentralized control, nonlinear systems, unknown control directions.

Article

Regular Papers

International Journal of Control, Automation and Systems 2019; 17(1): 29-37

Published online January 1, 2019 https://doi.org/10.1007/s12555-017-0787-6

Copyright © The International Journal of Control, Automation, and Systems.

Decentralized Adaptive Control of Interconnected Nonlinear Systems with Unknown Control Directions and Actuator Failure

Guiju Xu, Jiangshuai Huang*, and Xiaojie Su

Chongqing University

Abstract

In this paper, we propose a decentralized adaptive control scheme for a class of interconnected nonlinear systems without a priori knowledge of subsystems’ control directions and unknown actuator failure. To address this problem, a novel Nussbaum-type function is proposed and a key theorem is drawn which involves quantifying the interconnections of multiple Nussbaum-type functions of the subsystems with different control directions in a single inequality. The effect of actuator failures is successfully compensated. Global stability of the closed-loop system and asymptotic stabilization of subsystems’ output are proved and a simulation example is given to illustrate the effectiveness of the proposed control scheme."

Keywords: Actuator failure, adaptive control, decentralized control, nonlinear systems, unknown control directions.

IJCAS
July 2024

Vol. 22, No. 7, pp. 2055~2340

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