Decentralized adaptive control: structural conditions for stability
- 1 April 1989
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 34 (4) , 413-426
- https://doi.org/10.1109/9.28016
Abstract
Decentralized adaptive control schemes are presented for a class of large-scale interconnected systems. These schemes have the advantage that in addition to the standard assumption about the uncertainty of the subsystems, the strength of interconnection is assumed unknown. Provided certain structural constraints are satisfied, the adaptation gains automatically adjust to levels that assure stability of the overall system. Simulations of a spring-coupled dual pendulum showed that for high interconnection strengths, the proposed algorithm exhibits better tracking performance than existing algorithms.Keywords
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