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

  • Guiju Xu
  • Jiangshuai HuangEmail author
  • Xiaojie Su
Regular Papers Control Theory and Applications
  • 19 Downloads

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 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Chongqing Institute of EngineeringSouth hot springBa Nan District, ChongqingChina
  2. 2.School of AutomationChongqing UniversityChongqingChina

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