|Decentralized Adaptive Control of Interconnected Nonlinear Systems with Unknown Control Directions and Actuator Failure
Guiju Xu, Jiangshuai Huang*, and Xiaojie Su
International Journal of Control, Automation, and Systems, vol. 17, no. 1, pp.29-37, 2019
Abstract : "In this paper, we propose a decentralized adaptive control scheme for a class of interconnected nonlinear
systems without a priori knowledge of subsystems’ control directions and unknown actuator failure. To address
this problem, a novel Nussbaum-type function is proposed and a key theorem is drawn which involves quantifying
the interconnections of multiple Nussbaum-type functions of the subsystems with different control directions in a
single inequality. The effect of actuator failures is successfully compensated. Global stability of the closed-loop
system and asymptotic stabilization of subsystems’ output are proved and a simulation example is given to illustrate
the effectiveness of the proposed control scheme."
Actuator failure, adaptive control, decentralized control, nonlinear systems, unknown control directions.
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