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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."

Keyword : Actuator failure, adaptive control, decentralized control, nonlinear systems, unknown control directions.

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