Adaptive control of coupled dynamical systems: a mixed state and output feedback framework

作     者：Yucelen, Tansel Gruenwald, Benjamin C. Dogan, K. Merve Chakravarthy, Animesh Menon, Alok 

作者机构：Univ S Florida Dept Mech Engn Engn Bldg C 22094202 East Fowler Ave Tampa FL 33620 USA Univ Texas Arlington Dept Mech & Aerosp Engn Arlington TX 76019 USA Wichita State Univ Dept Aerosp Engn Wichita KS USA 

出 版 物：《INTERNATIONAL JOURNAL OF CONTROL》 (国际控制杂志)

年 卷 期：2021年第94卷第7期

页      面：1765-1783页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0701[理学-数学] 071101[理学-系统理论] 

基　　金：National Aeronautics and Space Administration [NNX15AN04A] 

主　　题：Coupled dynamical systems system uncertainties model reference adaptive control mixed state and output feedback control stability and performance guarantees 

摘      要：This paper studies a class of coupled dynamical systems consisting of an actuated dynamical system interconnected with an unactuated dynamical system. The actuated dynamical system is considered to have a measurable state for feedback control, whereas only the output is available from the unactuated dynamical system. Specifically, the control objective for this class of dynamical systems is to allow a desired subset of the state of the actuated dynamical system to follow given commands in the presence of uncertain parameters and unactuated dynamical system coupling. To this end, our contribution is a mixed state and output feedback framework in the context of model reference adaptive control, which is predicated on integrated nominal and adaptive control laws. The key feature of the proposed model reference adaptive control architecture is to guarantee stability of the closed-loop coupled dynamical system as well as to assign user-defined bounds on system error trajectories utilised by the adaptive control law for achieving a prescribed level of overall system performance.