Adaptive Observer-Based Decentralized Sliding Mode Control for Connected Systems in the Presence of Unknown Interconnect
- PDF / 1,251,788 Bytes
- 14 Pages / 595.276 x 790.866 pts Page_size
- 104 Downloads / 248 Views
Adaptive Observer-Based Decentralized Sliding Mode Control for Connected Systems in the Presence of Unknown Interconnection and Bounded Disturbance Babak Ranjbar1
· A. Ranjbar Noiey1 · Behrooz Rezaie1
Received: 29 January 2020 / Revised: 4 July 2020 / Accepted: 13 August 2020 © Brazilian Society for Automatics--SBA 2020
Abstract In this manuscript, the control problem for a class of connected systems with unknown interconnections in the presence of distributed disturbance is studied. For this purpose, an adaptive observer-based decentralized sliding mode controller is proposed to provide the stability of the closed-loop system. In this approach, the connection matrix between subsystems is also assumed unknown, and therefore the dependency to the knowledge of connections is reduced. Due to the lack of availability of most states, a combination of the Luenberger observer and the sliding mode controller is proposed. The observer is to estimate the unmeasurable states, observing the disturbance effects, and thereby facilitating determination of the control law in an adaptive scheme. Furthermore, the effects of unknown interconnections between subsystems are estimated using adaptive laws, to find equivalent of interconnections among subsystems. To control and stabilize the overall system, a decentralized sliding mode controller is designed to stabilize the original system using the estimated disturbance and states. To analyze the stability, based on the proposed observer, direct method of Lyapunov is proposed together with the LMI technique. The stability of system and convergence of the estimation error of each subsystem to zero is guaranteed. The observer-based method is finally applied into two numerical examples to verify the significance of the proposed approach. Keywords Connected systems · Decentralized observer · Adaptive sliding mode · Bounded disturbance · Unknown interconnection · Disturbance observer
1 Introduction In recent years, complex systems, including large scale, multi-agent, and interconnected systems, have attracted the interests of many kinds of research. Connected systems are applicable in many practical systems such as mechanical systems (Zhang et al. 2018a, b, c), aerospace systems, wind turbines (Ke et al. 2019), urban traffic, computer networks, and economic systems. Lack of sufficient information about the connections between subsystems has made it difficult to design controller and observer for such connected systems (Zhang et al. 2018a, b; Xu et al. 2018; Bento et al. 2018; Babu et al. 2019). In the past few decades, control of connected systems through decentralized controller has investigated by several scholars (Phat et al. 2015, 2016). Main reason to use
B 1
Babak Ranjbar [email protected] Babol Noshirvani University of Technology, Babol, Iran
decentralized controller in the connected systems is its independence from the information exchange between subsystems. This leads to simpler design of the controller to use only local information. The solution for addressing the probl
Data Loading...
