Adaptive robust tracking control for a class of distributed systems with faulty actuators and interconnections

In this paper, direct adaptive control schemes are developed to solve the robust tracking problem of a class of distributed large scale systems with actuator faults, faulty and perturbed interconnection links, and external disturbances. The adaptation laws are proposed to update controller parameters on-line when all eventual faults, the upper bounds of the perturbations and disturbances are assumed to be unknown. Then a class of distributed state feedback controllers is constructed to automatically compensate the fault, perturbation and disturbance effects based on the information from adaptive schemes. The proposed tracking controller can ensure that the resulting closed-loop large-scale system is stable and the tracking error decreases asymptotically to zero. The proposed adaptive design technique is finally evaluated in the light of a simulation example.