Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Decentralized Adaptive Control for Nonlinear Systems with Time-Delayed Interconnections: Intelligent Approach

시간 지연 상호 연계를 가진 비선형 시스템의 분산 적응 제어: 지능적인 접근법

  • 유성진 (연세대학교 전기전자공학과) ;
  • 박진배 (연세대학교 전기전자공학과)
  • Published : 2009.04.01
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Abstract

A decentralized adaptive control method is proposed for large-scale systems with unknown time-delayed nonlinear interconnections unmatched in control inputs. It is assumed that the time-delayed interaction terms are bounded by unknown nonlinear bounding functions. The nonlinear bounding functions and uncertain nonlinear functions of large-scale systems are compensated by the function approximation technique using neural networks. The dynamic surface control method is extended to design the proposed memoryless local controller for each subsystem of uncertain nonlinear large-scale time delay systems. Therefore, although the interconnected systems consist of a large number of subsystems, the proposed controller can be designed simply. We prove that all the signals in the total closed-loop system are semiglobally uniformly bounded and the control errors converge to an adjustable neighborhood of the origin. Finally, an example is given to demonstrate the effectiveness and applicability of the proposed scheme.

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References

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