Multilevel adaptive control of nonlinear interconnected systems |
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| Affiliation: | 1. Optics and Imaging Centre, Doris Duke Medical Research Institute, College of Health Sciences, School of Laboratory Medicine and Medical Sciences, University of KwaZulu-Natal, Durban, KwaZulu-Natal, South Africa;2. Women’s Health and HIV Research Group, College of Health Sciences, University of KwaZulu-Natal, Durban, South Africa;1. School of Electrical and Control Engineering, Henan University of Urban Construction, Pingdingshan, 467036, China;2. School of Electrical Engineering, Zhengzhou University, Zhengzhou, 45001, China |
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| Abstract: | This paper presents an adaptive backstepping-based multilevel approach for the first time to control nonlinear interconnected systems with unknown parameters. The system consists of a nonlinear controller at the first level to neutralize the interaction terms, and some adaptive controllers at the second level, in which the gains are optimally tuned using genetic algorithm. The presented scheme can be used in systems with strong couplings where completely ignoring the interactions leads to problems in performance or stability. In order to test the suitability of the method, two case studies are provided: the uncertain double and triple coupled inverted pendulums connected by springs with unknown parameters. The simulation results show that the method is capable of controlling the system effectively, in both regulation and tracking tasks. |
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| Keywords: | Interconnected nonlinear systems Multilevel control Adaptive backstepping design Genetic algorithm Coupled inverted pendulums |
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