Decentralized adaptive control for interconnected lagrangian systems

Author

Resendiz, J. Francisco Flores ; Tang, Yu

Author_Institution

Fac. of Eng., Nat. Univ. of Mexico, Mexico City

fYear

2008

fDate

2-4 July 2008

Firstpage

4643

Lastpage

4648

Abstract

In this paper a decentralized adaptive control for interconnected Lagrangian systems is addressed. Linearly parameterized interconnections and implicit cooperation among the subsystems are assumed. Under these conditions, asymptotical tracking in each subsystem to the reference trajectory is achieved. A numerical example of controlling two cooperative robots is included to illustrate the performance of this adaptive control scheme.

Keywords

adaptive control; asymptotic stability; control system synthesis; decentralised control; interconnected systems; tracking; asymptotical tracking; decentralized adaptive control design; implicit cooperation; interconnected Lagrangian systems; linearly parameterized interconnections; reference trajectory; stability; Adaptive control; Control design; Control systems; Distributed control; Lagrangian functions; Power system interconnection; Robot control; Robot kinematics; Symmetric matrices; Trajectory; Adaptive control; Decentralized control; Interconnected systems; Lagrangian systems; asymptotical tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference, 2008. CCDC 2008. Chinese

Conference_Location

Yantai, Shandong

Print_ISBN

978-1-4244-1733-9

Electronic_ISBN

978-1-4244-1734-6

Type

conf

DOI

10.1109/CCDC.2008.4598210

Filename

4598210