期刊
IEEE TRANSACTIONS ON CYBERNETICS
卷 50, 期 4, 页码 1644-1654出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2018.2878578
关键词
Switches; Actuators; Nonlinear systems; Interconnected systems; Adaptive control; Switched systems; Actuator failures; control directions; decentralized controller; switched parameter update law; switched systems
类别
资金
- Research Fund of the State Key Laboratory of Synthetical Automation for Process Industries [2018ZCX23]
This paper is concerned with the switched decentralized adaptive control design problem for switched interconnected nonlinear systems under arbitrary switching, where the actuator failures may occur infinite times and the control directions are allowed to be unknown. By introducing a Nussbaum-type function and an integrable auxiliary signal, a switched decentralized adaptive control scheme is developed to deal with the potentially infinite times of actuator failures and the unknown control directions. The basic idea is to design different parameter update laws and control laws for distinct switched subsystems. It is proved that the state variables of the resulting closed-loop system are asymptotically stable. Finally, a numerical simulation on a double-inverted pendulum model is given to verify the proposed control scheme.
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