Decentralized adaptive output tracking control of interconnected nonlinear systems with actuator failures
In this paper, a decentralized adaptive backstepping control scheme is proposed to achieve trajectory tracking for a class of nonlinear interconnected systems with stuck type actuator failures. To compensate for the effects of failed actuators, more unknown parameters in addition to original system...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Conference Paper |
| Language: | English |
| Published: |
2013
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| Online Access: | https://hdl.handle.net/10356/99180 http://hdl.handle.net/10220/12651 |
| _version_ | 1826123817757442048 |
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| author | Wang, Wei Wen, Changyun Huang, Jiangshuai |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Wang, Wei Wen, Changyun Huang, Jiangshuai |
| author_sort | Wang, Wei |
| collection | NTU |
| description | In this paper, a decentralized adaptive backstepping control scheme is proposed to achieve trajectory tracking for a class of nonlinear interconnected systems with stuck type actuator failures. To compensate for the effects of failed actuators, more unknown parameters in addition to original system parameters need to be identified. A damping term is introduced in constructing the stabilizing function in the first step of backstepping design procedure for robustness with respect to the nonlinear interactions between subsystems. It is shown that the global uniform boundedness of all closed-loop signals is ensured with the designed local adaptive controllers. Further, the overall tracking error converges to a residual set ultimately which can be made as small as desired by properly choosing the design parameters. |
| first_indexed | 2024-10-01T06:10:32Z |
| format | Conference Paper |
| id | ntu-10356/99180 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:10:32Z |
| publishDate | 2013 |
| record_format | dspace |
| spelling | ntu-10356/991802020-03-07T13:24:49Z Decentralized adaptive output tracking control of interconnected nonlinear systems with actuator failures Wang, Wei Wen, Changyun Huang, Jiangshuai School of Electrical and Electronic Engineering IEEE Conference on Industrial Electronics and Applications (7th : 2012 : Singapore) In this paper, a decentralized adaptive backstepping control scheme is proposed to achieve trajectory tracking for a class of nonlinear interconnected systems with stuck type actuator failures. To compensate for the effects of failed actuators, more unknown parameters in addition to original system parameters need to be identified. A damping term is introduced in constructing the stabilizing function in the first step of backstepping design procedure for robustness with respect to the nonlinear interactions between subsystems. It is shown that the global uniform boundedness of all closed-loop signals is ensured with the designed local adaptive controllers. Further, the overall tracking error converges to a residual set ultimately which can be made as small as desired by properly choosing the design parameters. 2013-07-31T07:31:11Z 2019-12-06T20:04:11Z 2013-07-31T07:31:11Z 2019-12-06T20:04:11Z 2012 2012 Conference Paper https://hdl.handle.net/10356/99180 http://hdl.handle.net/10220/12651 10.1109/ICIEA.2012.6360797 en |
| spellingShingle | Wang, Wei Wen, Changyun Huang, Jiangshuai Decentralized adaptive output tracking control of interconnected nonlinear systems with actuator failures |
| title | Decentralized adaptive output tracking control of interconnected nonlinear systems with actuator failures |
| title_full | Decentralized adaptive output tracking control of interconnected nonlinear systems with actuator failures |
| title_fullStr | Decentralized adaptive output tracking control of interconnected nonlinear systems with actuator failures |
| title_full_unstemmed | Decentralized adaptive output tracking control of interconnected nonlinear systems with actuator failures |
| title_short | Decentralized adaptive output tracking control of interconnected nonlinear systems with actuator failures |
| title_sort | decentralized adaptive output tracking control of interconnected nonlinear systems with actuator failures |
| url | https://hdl.handle.net/10356/99180 http://hdl.handle.net/10220/12651 |
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