Decentralized output-feedback adaptive control for a class of interconnected nonlinear systems with unknown actuator failures
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...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2017
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/85728 http://hdl.handle.net/10220/43819 |
| _version_ | 1811678250437443584 |
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| author | Wang, Chenliang Wen, Changyun Guo, Lei |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Wang, Chenliang Wen, Changyun Guo, Lei |
| author_sort | Wang, Chenliang |
| collection | NTU |
| description | 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∞ 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. |
| first_indexed | 2024-10-01T02:50:17Z |
| format | Journal Article |
| id | ntu-10356/85728 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T02:50:17Z |
| publishDate | 2017 |
| record_format | dspace |
| spelling | ntu-10356/857282020-03-07T13:57:28Z Decentralized output-feedback adaptive control for a class of interconnected nonlinear systems with unknown actuator failures Wang, Chenliang Wen, Changyun Guo, Lei School of Electrical and Electronic Engineering Interconnected systems Actuator failures 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∞ 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. Accepted version 2017-09-29T07:55:10Z 2019-12-06T16:09:09Z 2017-09-29T07:55:10Z 2019-12-06T16:09:09Z 2016 Journal Article Wang, C., Wen, C., & Guo, L. (2016). Decentralized output-feedback adaptive control for a class of interconnected nonlinear systems with unknown actuator failures. Automatica, 71, 187-196. 0005-1098 https://hdl.handle.net/10356/85728 http://hdl.handle.net/10220/43819 10.1016/j.automatica.2016.04.027 en Automatica © 2016 Elsevier. This is the author created version of a work that has been peer reviewed and accepted for publication by Automatica, Elsevier. It incorporates referee’s comments but changes resulting from the publishing process, such as copyediting, structural formatting, may not be reflected in this document. The published version is available at: [http://dx.doi.org/10.1016/j.automatica.2016.04.027]. 11 p. application/pdf |
| spellingShingle | Interconnected systems Actuator failures Wang, Chenliang Wen, Changyun Guo, Lei Decentralized output-feedback adaptive control for a class of interconnected nonlinear systems with unknown actuator failures |
| title | Decentralized output-feedback adaptive control for a class of interconnected nonlinear systems with unknown actuator failures |
| title_full | Decentralized output-feedback adaptive control for a class of interconnected nonlinear systems with unknown actuator failures |
| title_fullStr | Decentralized output-feedback adaptive control for a class of interconnected nonlinear systems with unknown actuator failures |
| title_full_unstemmed | Decentralized output-feedback adaptive control for a class of interconnected nonlinear systems with unknown actuator failures |
| title_short | Decentralized output-feedback adaptive control for a class of interconnected nonlinear systems with unknown actuator failures |
| title_sort | decentralized output feedback adaptive control for a class of interconnected nonlinear systems with unknown actuator failures |
| topic | Interconnected systems Actuator failures |
| url | https://hdl.handle.net/10356/85728 http://hdl.handle.net/10220/43819 |
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