Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/85728
Title: Decentralized output-feedback adaptive control for a class of interconnected nonlinear systems with unknown actuator failures
Authors: Wang, Chenliang
Wen, Changyun
Guo, Lei
Keywords: Interconnected systems
Actuator failures
Issue Date: 2016
Source: 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.
Series/Report no.: Automatica
Abstract: 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.
URI: https://hdl.handle.net/10356/85728
http://hdl.handle.net/10220/43819
ISSN: 0005-1098
DOI: 10.1016/j.automatica.2016.04.027
Rights: © 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].
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:EEE Journal Articles

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