Abstract
Decentralized control of large-scale active-passive modular systems is considered. These systems consist of physically interconnected and generally heterogeneous modules, where local control signals can be only applied to a subset of these modules (i.e., active modules) and the rest are not subject to any control signals (i.e., passive modules). Using a set-theoretic adaptive control approach predicated on restricted potential functions, we design decentralized command following control architectures for each active module such that they can effectively perform their tasks with strict performance guarantees in the presence of unknown physical interconnections between modules and module-level system uncertainties. The efficacy of the proposed framework is demonstrated in an illustrative numerical example.
Recommended Citation
B. C. Gruenwald et al., "A Decentralized Adaptive Control Architecture for Large-scale Active-passive Modular Systems," Proceedings of the American Control Conference, pp. 3347 - 3352, article no. 7963464, Institute of Electrical and Electronics Engineers, Jun 2017.
The definitive version is available at https://doi.org/10.23919/ACC.2017.7963464
Department(s)
Mechanical and Aerospace Engineering
International Standard Book Number (ISBN)
978-150905992-8
International Standard Serial Number (ISSN)
0743-1619
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2024 Institue of Electrical and Electronicis Engineers, All rights reserved.
Publication Date
29 Jun 2017
Comments
National Aeronautics and Space Administration, Grant NNX15AM51A