Sampled observer-based adaptive decentralized control for strict-feedback interconnected nonlinear systems |
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| Authors: | Hai-Yu Guo Xiao-Guang Zhang |
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| Institution: | 1. School of Electrical Engineering, Shenyang University of Technology, Shenyang 110870, PR China;2. College of Information Science and Engineering, Northeastern University, Shenyang 110819, PR China;3. Promotion China PH.D Program, BMW Brilliance Automotive Ltd., Shenyang, Liaoning 110143, PR China;1. College of Information Engineering, Nanjing University of Finance & Economics, Nanjing 210023, PR China;2. School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200011, PR China;3. The Institute of Advanced Technology, Nanjing University of Posts and Telecommunications, Nanjing 210023, PR China;1. School of Automation and Information Engineering, Xi’an University of Technology, China;2. Autonomous Systems and Intelligent Control International Joint Research Center, Xi’an Technological University, China;3. State Key Laboratory of Astronautic Dynamics, China;1. School of Information and Software Engineering, University of Electronic Science and Technology of China, China;2. School of Mathematical Science, University of Electronic Science and Technology of China, China;3. School of Information Science and Engineering, Chengdu University, China;1. School of Mathematical Science, Heilongjiang University, Harbin 150080, P. R. China;2. Heilongjiang Provincial Key Laboratory of the Theory and Computation of Complex Systems, Heilongjiang University, Harbin 150080, P. R. China;1. School of New Energy, Harbin Institute of Technology (Weihai), Weihai 264209, PR China;2. College of Engineering, Texas A&M University-Kingsville, Kingsville, TX 78363, USA |
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| Abstract: | This paper investigates the decentralized tracking control problem for a class of strict-feedback interconnected nonlinear systems with unknown parameters, where the system states are unmeasurable and the interconnections are unknown. Different from the existing results, where the output is available all the time, we consider the case that the output is only available at the sampled instants, which means the failure of existing methods. By introducing a kind of sampled observer for each subsystem, the system states and unknown parameters are jointly estimated. Based on which, a totally decentralized output feedback control scheme is developed to achieve the desired tracking performance by applying backstepping technique, where a compensation mechanism is utilized to address the unknown interconnections from other subsystems. Subsequently, by using Lyapunov stability theory, it is proved that all the signals in the closed-loop system are bounded and the tracking errors converge to an adjustable neighbourhood of the origin. Finally, an example is used to illustrate the effectiveness of the proposed method. |
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