期刊
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
卷 352, 期 3, 页码 835-850出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.jfranklin.2014.11.019
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资金
- National Natural Science Foundation of China [61304083, 61273141]
- Doctoral Fund of Ministry of Education [20131102120007]
- Fundamental Research Fund of BUAA [YWF-14-ZDHXY-008]
In this paper, a decentralized adaptive backstepping control scheme is proposed for a class of interconnected nonlinear systems with unknown actuator failures. By introducing a smooth function, some integrable auxiliary signals and a bound estimation approach, the effect of actuator failures is successfully compensated for. The proposed scheme has the following features: (1) the total number of failures is allowed to be infinite; (2) global stability of the overall closed-loop system is achieved without any bound knowledge of uncertainties; (3) all system outputs converge to zero asymptotically regardless of the possibly infinite number of failures and the unknown interactions among subsystems. Simulation results on coupled inverted double pendulums are presented to illustrate the effectiveness of the proposed scheme. (C) 2014 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
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