Decentralized adaptive control of interconnected nonlinear systems using high gain observer. (English) Zbl 1061.93060
Summary: This paper investigates a decentralized adaptive control strategy for a class of interconnected unknown nonlinear systems. The idea of the strategy is based on the feedback linearizing control and perturbation estimation. A high gain observer is designed in association with each subsystem to estimate the states and a fictitious state which is defined to represent the system perturbation including the combined effect of system nonlinearities, unknown system dynamics, disturbances and interactions between subsystems. Subject to the availability of subsystem states, two local controllers – decentralized nonlinear adaptive state-feedback controller (DNASFC) and decentralized nonlinear adaptive output-feedback controller (DNAOFC) – are developed using a high gain perturbation observer (HGPO) or a high gain state and perturbation observer (HGSPO) respectively. The stability and error analysis of the high gain observers and the closed-loop control systems are addressed in detail. The two proposed controllers are evaluated on an interconnected nonlinear system involving two inverted pendulums on carts without velocity measurements.
Keywords:
decentralized adaptive control; nonlinear systems; feedback linearizing control; perturbation estimation; high gain observerReferences:
| [1] | DOI: 10.1109/9.788534 · Zbl 0958.93079 · doi:10.1109/9.788534 |
| [2] | DOI: 10.1109/72.883479 · doi:10.1109/72.883479 |
| [3] | DOI: 10.1109/9.28016 · Zbl 0681.93001 · doi:10.1109/9.28016 |
| [4] | Han JQ, Control and Decision 12 pp 12– (1997) |
| [5] | DOI: 10.1049/ip-cta:20020470 · doi:10.1049/ip-cta:20020470 |
| [6] | DOI: 10.1049/ip-gtd:20010017 · doi:10.1049/ip-gtd:20010017 |
| [7] | DOI: 10.1109/9.887638 · Zbl 0989.93008 · doi:10.1109/9.887638 |
| [8] | Khalil H, New Directions in Nonlinear Observer Design pp pp. 249–264– (1999) |
| [9] | DOI: 10.1109/TAC.1982.1102845 · Zbl 0469.93063 · doi:10.1109/TAC.1982.1102845 |
| [10] | DOI: 10.1115/1.2802375 · Zbl 1014.93006 · doi:10.1115/1.2802375 |
| [11] | DOI: 10.1080/0020718508961209 · Zbl 0571.93052 · doi:10.1080/0020718508961209 |
| [12] | DOI: 10.1109/9.151092 · Zbl 0764.93051 · doi:10.1109/9.151092 |
| [13] | DOI: 10.1109/9.328806 · Zbl 0925.93460 · doi:10.1109/9.328806 |
| [14] | DOI: 10.1191/0142331202tm054oa · doi:10.1191/0142331202tm054oa |
| [15] | DOI: 10.1080/00207720050165780 · Zbl 1080.93645 · doi:10.1080/00207720050165780 |
| [16] | DOI: 10.1115/1.2896491 · Zbl 0767.93036 · doi:10.1115/1.2896491 |
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. In some cases that data have been complemented/enhanced by data from zbMATH Open. This attempts to reflect the references listed in the original paper as accurately as possible without claiming completeness or a perfect matching.
