Decentralized adaptive command following and disturbance rejection for subsystems with local full‐state feedback

Abstract

SummaryWe present a decentralized model reference adaptive control method, where each local controller uses full‐state feedback from the local subsystem. The controller is strictly decentralized, meaning that no information (including reference‐model trajectories) is shared between local controllers. This decentralized controller achieves stabilization, command following, and disturbance rejection provided that the reference‐model commands and the disturbances are sinusoidal with known spectrum. The controller is effective for multi‐input subsystems with arbitrarily large subsystem interconnections. Copyright © 2014 John Wiley & Sons, Ltd.