Decentralized adaptation in interconnected uncertain systems with nonlinear parametrization

DOI10.1007/11505532_15MaRDI QIDQ3016437zbMATH OpenOpenAlexFDO

Authors C. van Leeuwen, I. Tyukin

Publication date 15 July 2011

Published in Group Coordination and Cooperative Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/math/0606206

Mathematics Subject Classification ID

Decentralized systems (93A14) Control/observation systems governed by ordinary differential equations (93C15)

Abstract: We propose a technique for the design and analysis of decentralized adaptation algorithms in interconnected dynamical systems. Our technique does not require Lyapunov stability of the target dynamics and allows nonlinearly parameterized uncertainties. We show that for the considered class of systems, conditions for reaching the control goals can be formulated in terms of the nonlinear L_2-gains of target dynamics of each interconnected subsystem. Equations for decentralized controllers and corresponding adaptation algorithms are also explicitly provided.

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Cited in

(1)

• Adaptive control for coupled lagrangian systems with structured uncertainty in the interconnections

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