Title :
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
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;
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
DOI :
10.1109/CCDC.2008.4598210
