17th International Symposium on
Mathematical Theory of Networks and Systems
Kyoto International Conference Hall, Kyoto, Japan, July 24-28, 2006

MTNS 2006 Paper Abstract

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Paper TuP11.1

Bavafa-Toosi, Yazdan (Keio Univ.), Ohmori, Hiromitsu (Keio Univ.)

A Universal Decentralized Robust Full-Model-Reference Adaptive Control with Non-Identical Interconnections

Scheduled for presentation during the Regular Session "Adaptive and Learning Control" (TuP11), Tuesday, July 25, 2006, 15:20−15:45, Room 104a

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on May 19, 2024

Keywords Model reference control, Control of nonlinear systems, Stability analyisis

Abstract

Abstract——To the best of our knowledge, all the existing decentralized model-reference adaptive control (MRAC) schemes consider reference models for subsystems only, i.e., not for interconnections. In fact, it appears to be folk knowledge that it is irrelevant or rather impossible to consider a full reference model whose interconnection parts are not identical with those of the system. This work is a rebuttal of this long-standing stereotype. The advocated methodology is applicable to the same class of large-scale systems considered in the main body of the pertinent literature, but contrariwise corrupted by unknown varying time-delay interconnections and unknown time-varying perturbations (model uncertainties, nonlinearities, or external disturbances) whose upper bounds are unknown. The proposed approach is in the realm of sliding-mode control and has the following distinctions: universal treatment of both known and unknown systems in the same framework without any modifications in adaptation and control laws, relaxation of the standard assumptions in MRAC, and resolution of the intrinsic drawbacks of standard sliding-mode control.