Decentralized adaptive stabilization of interconnected nonlinear systems with unknown non-symmetric dead-zone inputs

Sung Jin Yoo, Jin Bae Park, Yoon Ho Choi

Research output: Contribution to journalArticle

98 Citations (Scopus)

Abstract

The decentralized adaptive stabilization method is proposed for uncertain interconnected nonlinear systems with unknown non-symmetric dead-zone inputs. The class of systems considered in this paper consists of strict-feedback nonlinear subsystems with unknown non-symmetric dead-zone inputs which interact through their outputs. The unknown nonlinear interaction terms are assumed to be bounded by nonlinear functions with unknown parameters. For the simple controller design, the local controller for each subsystem is systematically derived based on the dynamic surface design technique, without constructing the dead-zone inverse and requiring the bound information of dead-zone parameters (slopes and break-points). All unknown parameters of interconnected nonlinear systems are compensated by the adaptive technique. From Lyapunov stability theorem, it is proved that all signals in the interconnected closed-loop system with decentralized adaptive controllers are semi-globally bounded. Simulation results for tripled inverted pendulums demonstrate the effectiveness of the proposed approach.

Original languageEnglish
Pages (from-to)436-443
Number of pages8
JournalAutomatica
Volume45
Issue number2
DOIs
Publication statusPublished - 2009 Feb 1

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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