Wang, Peng;
Fei, Minrui;
Sun, Qing;
Du, Dajun;
Hu, Yukun;
(2025)
Observer-Based Adaptive Decentralized Control for Interconnected Time-Delay Nonlinear Fully Actuated Systems With Nonsmooth Actuator Dynamics.
IEEE Transactions on Cybernetics
10.1109/TCYB.2025.3589538.
(In press).
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Abstract
This article investigates the observer-based adaptive decentralized control problem for a class of uncertain interconnected nonlinear fully actuated systems (FAS), considering nonsmooth actuator dynamics including actuator failures and unknown control gains. Based on the dynamic gain scaling technique, a dynamic state observer is constructed. By utilizing the high-order FAS (HOFAS) approach, an adaptive decentralized output feedback controller is designed and a closed-loop structure of the fully actuated subsystems is derived. This structure takes actuator loss of effectiveness, unknown control gains, and unstructured uncertainties into account in the interconnected time-delay subsystems. By selecting suitable Lyapunov-Krasovskii (L-K) functionals, the time-delay terms can be removed, ensuring that all signals of the overall closed-loop system converge to a bounded region. Finally, two simulation examples validate the efficacy of the proposed strategy.
| Type: | Article |
|---|---|
| Title: | Observer-Based Adaptive Decentralized Control for Interconnected Time-Delay Nonlinear Fully Actuated Systems With Nonsmooth Actuator Dynamics |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/TCYB.2025.3589538 |
| Publisher version: | https://doi.org/10.1109/tcyb.2025.3589538 |
| 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: | Actuator failures, Automation & Control Systems, Computer Science, Computer Science, Artificial Intelligence, Computer Science, Cybernetics, FAULT-TOLERANT CONTROL, fully actuated systems (FAS) approach, LARGE-SCALE SYSTEMS, nonlinear systems, observer-based adaptive control, Science & Technology, Technology, TRACKING, unknown control gains |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Civil, Environ and Geomatic Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10212815 |
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