Distributed robust adaptive tracking control with lossy interconnection links and bounded disturbances

Abstract

In this paper, direct adaptive-state feedback control schemes are developed to solve the problem of asymptotic tracking and disturbance rejection for a class of distributed large-scale systems with faulty and perturbed interconnection links. Adaptation laws are proposed to update controller parameters on-line when all interconnected fault factors, the upper bounds of perturbations in interconnection links and external disturbances on subsystems are unknown. Then a class of distributed state feedback controllers is constructed to automatically compensate the fault and perturbation effects, and reject the disturbances simultaneously based on the information from adaptive schemes. The proposed adaptive robust tracking controllers can guarantee that the resulting adaptive closed-loop distributed system stable and each subsystem can asymptotically-output track the corresponding reference signal. The proposed design technique is finally evaluated in the light of a simulation example.