Decentralized adaptive control of interconnected systems with reduced-order models |
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| Affiliation: | 2. Department of EE-Systems, University of Southern California, Los Angeles, CA 90089-0781, U.S.A.;3. Coordinated Science Laboratory, University of Illinois, Urbana, IL 61801, U.S.A.;1. College of Electrical Engineering, Northwest University for Nationalities, Lanzhou, China;2. Research Institute of Information Technology, Tsinghua University, Beijing, China;3. PN Engineering College, National University of Sciences and Technology, Islamabad, Pakistan;1. School of Automation, Nanjing University of Science and Technology, Nanjing 210094, Jiangsu, PR China;2. Department of Mathematics, Huzhou Teacher׳s College, Huzhou, Zhejiang 313000, PR China |
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| Abstract: | The adaptive control of interconnected systems whose subsystems possess slow and fast modes is investigated in the presence of external disturbances. A simple example is first used to show that a decentralized adaptive controller can become unstable due to the unmodeled interconnections and/or neglected parasitics. An approach is then developed for stabilization and tracking using decentralized adaptive controllers with modified adaptive laws. Sufficient conditions are obtained under which a region of attraction exists for boundedness and exponential convergence of the state/parameter errors to a small residual set. The size of the region of attraction depends on the frequency range of the local parasitics in such a way that if all the local parasitics become infinitely fast, the region of attraction becomes the whole space. |
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