Decentralized Adaptive Control Based on Simple Adaptive Control Method.

概要

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To Control the large-scale systems centrally is difficult due to an interconnection of subsystems with unknown parameters, nonlinerities, and disturbances. Decentralized adaptive control schemes are an effective method to handle these uncertainties.In this paper, we consider a decentralized adaptive control based on simple adaptive control (SAC) method which possesses simple adaptive controller structure and robustness for disturbances. It is verified that, the boundedness of all signals of the systems is guaranteed if the M-matrix condition or range condition of interconnections is satisfied. The effectiveness of this method is examined by using parallel inverted pendulums example.
公益社団法人計測自動制御学会の論文