Distributed adaptive control for H_∞ tracking of uncertain interconnected dynamical systems

Abstract

A distributed adaptive control is proposed for H ∞ tracking of an interconnected dynamical system in the presence of L 2 disturbances and system/interconnection uncertainties. A reference model which achieves a robust tracking against L 2 disturbances is introduced by using H ∞ control with transients. Then a distributed adaptive control law is developed for an uncertain interconnected dynamical system, where it employs the specified reference model. It is shown that the boundedness of the error dynamics behaviors as well as zero tracking error in the steady state is guaranteed by the proposed distributed adaptive control in the presence of disturbances and uncertainties. An explicit error bound related to H ∞ tracking is also established.

Robust model reference tracking control for high‐order descriptor linear systems subject to parameter uncertainties

“…Model reference tracking control problem, also named model following control problem, arises from physical applications [1], such as robotic systems [2,3], aircraft [4], helicopter systems [5,6] and its purpose is to make the closed-loop system match a given reference system (in other words, the states track the reference system states) and/or the outputs of the closedloop system follow the reference model outputs. Due to the existence of unknown parameters and/or parameters changing with time in the model, the adaptive technique is used to handle the model reference tracking control problem [7][8][9][10][11]. The other eye-catching technique is to construct a controller with a feed-forward compensator, and excellent work has been completed.…”