Feng, Jiehua;
Zhao, Dongya;
Yan, Xing-Gang;
Spurgeon, Sarah K;
(2023)
Decentralized robust adaptive backstepping control for a class of non-minimum phase nonlinear interconnected systems.
Journal of the Franklin Institute
, 360
(18)
pp. 14480-14508.
10.1016/j.jfranklin.2023.11.002.
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Abstract
In this paper, a class of interconnected systems is considered, where the nominal isolated subsystems are fully nonlinear and non-minimum phase. A decentralized Extended Kalman Filter-Extended High Gain Observer (EKF-EHGO) is designed to observe the system states. Then, a systematic backstepping design procedure is employed to develop a novel decentralized robust adaptive output feedback control, in which the adaptive law is designed to counter the effects of the interconnections and uncertainties. The proposed decentralized dynamic output feedback control scheme can guarantee that all the signals in the closed-loop system are uniformly ultimately bounded (UUB). Both interconnections and uncertainties are allowed to be unmatched and bounded by an unknown high-order polynomial, which is a more general form when compared with existing work. Two MATLAB simulation examples are used to demonstrate the effectiveness of the proposed method including a system comprising translational oscillator with rotating actuator (TORA) sub-systems.
| Type: | Article |
|---|---|
| Title: | Decentralized robust adaptive backstepping control for a class of non-minimum phase nonlinear interconnected systems |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1016/j.jfranklin.2023.11.002 |
| Publisher version: | https://doi.org/10.1016/j.jfranklin.2023.11.002 |
| Language: | English |
| Additional information: | This version is the author-accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Decentralized robust adaptive control, Non-minimum phase, Nonlinear systems, Dynamic output feedback, Backstepping control |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/10181575 |
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