SINGULARITY-FREE DECENTRALIZED ADAPTIVE CONTROL OF INTERCONNECTED SYSTEMS

摘要

A new indirect decentralized adaptive control algorithm for discrete-time system is presented in this paper. The key idea in the algorithm is to design local controller such that each subsystem is independently controlled in some extent and to have no any singularities. Global boundedness of all signals for the whole closed loop system is guaranteed in the presence of interconnections, unmodelled dynamics and bounded disturbances of the subsystems. The algorithm needs neither the restrictions on plant parameters, and zeros nor the introduction of persistent excitation.