Adaptive control for coupled lagrangian systems with structured uncertainty in the interconnections

摘要

In this paper, an adaptive control scheme for coupled lagrangian systems is proposed. The interconnection terms among subsystems are assumed to have known structure and depend nonlinearly on uncertain parameters. Also, these coupling functions are restricted to those which are concave or convex with respect to the parameters. Two parameter adaptation laws are used to estimate local and interconnection unknown parameters. Both centralized and decentralized controls are designed. Ultimately bounded tracking with arbitrary precision is achieved regardless of ability to share information among subsystem. A numerical simulation, consisting of two pendulums interconnected by a nonlinear spring, is included to illustrate the effectiveness of the proposed schemes.