Title :
A decentralized adaptive control of interconnected lagrangian systems
Author :
Resendiz, J. Francisco Flores ; Tang, Yu
Author_Institution :
Eng. Grad. Program, Nat. Univ. of Mexico, Mexico City, Mexico
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 interconnected pendulums is included to illustrate the performance of this adaptive control scheme.
Keywords :
adaptive control; decentralised control; interconnected systems; pendulums; tracking; asymptotical tracking; decentralized adaptive control; interconnected lagrangian systems; interconnected pendulums control; linearly parameterized interconnections; reference trajectory; Adaptive control; Centralized control; Control design; Control systems; Distributed control; Lagrangian functions; Large-scale systems; Power system interconnection; Symmetric matrices; Trajectory;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400353
