Decentralized adaptive iterative learning control for interconnected systems with uncertainties

作     者：Lili SUN Tiejun WU Lili SUN;Tiejun WU

作者机构：Department of Control Science and EngineeringZhejiang University 

出 版 物：《控制理论与应用（英文版）》 (Journal of Control Theory and Applications)

年 卷 期：2012年第10卷第4期

页      面：490-496页

核心收录：

学科分类：0711[理学-系统科学] 0808[工学-电气工程] 07[理学] 08[工学] 0802[工学-机械工程] 0835[工学-软件工程] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基　　金：supported by the National Grand Fundamental Research 973 Program of China(No.G2002CB312200) 

主　　题：Decentralized control Interconnected system Model reference Adaptive iterative learning control Model uncertainties 

摘      要：In many applications, the system dynamics allows the decomposition into lower dimensional subsystems with interconnections among them. This decomposition is motivated by the ease and flexibility of the controller design for each subsystem. In this paper, a decentralized model reference adaptive iterative learning control scheme is developed for interconnected systems with model uncertainties. The interconnections in the dynamic equations of each subsystem are considered with unknown boundaries. The proposed controller of each subsystem depends only on local state variables without any information exchange with other subsystems. The adaptive parameters are updated along iteration axis to com- pensate the interconnections among subsystems. It is shown that by using the proposed decentralized controller, the states of the subsystems can track the desired reference model states iteratively. Simulation results demonstrate that, utilizing the proposed adaptive controller, the tracking error for each subsystem converges along the iteration axis.