We investigate robust adaptive controller designs for interconnected systems when no exact knowledge about the structure of the nonlinear interconnections between various subsystems is available. In this study, we concentrate on several different types of systems. We deal with both linear time-invariant (LTI) and linear time-varying (LTV) systems with nonlinear interconnections. For LTI systems, we examine the following types of interconnections: • interconnections that are bounded by first order polynomials in state space; • slowly time varying interconnections; • interconnections bounded by higher-order polynomials in state-space together with input channel interconnections. For LTV systems we deal with interconnections bounded by first-order polynomials in state space. We show that the nature of the nonlinear interactions influences the adaptation laws. We use the direct method of Lyapunov for the design of adaptive controllers for tracking in such systems. We investigate issues such as stability, transient performance and steady-state errors, and derive quantitative estimates and analytical bounds for various different adaptive controllers. For time-varying systems, we analyze the effect of the time variations of parameters and interactions and propose a modified adaptive control scheme with better performance. Simulation results are presented to validate our conclusions. We also investigate these results experimentally on a two-link robot manipulator. Experimental results validate theoretical conclusions and demonstrate the usefulness of such robust adaptive controllers for high-speed motions in uncertain systems.
Skip Nav Destination
Article navigation
September 1994
Research Papers
Robust Adaptive Controllers for Interconnected Mechanical Systems: Influence of Types of Interconnections on Time-Invariant and Time-Varying Systems
Sunil K. Singh,
Sunil K. Singh
Thayer School of Engineering, Dartmouth College, Hanover, NH 03755-8000
Search for other works by this author on:
Lin Shi
Lin Shi
Thayer School of Engineering, Dartmouth College, Hanover, NH 03755-8000
Search for other works by this author on:
Sunil K. Singh
Thayer School of Engineering, Dartmouth College, Hanover, NH 03755-8000
Lin Shi
Thayer School of Engineering, Dartmouth College, Hanover, NH 03755-8000
J. Dyn. Sys., Meas., Control. Sep 1994, 116(3): 456-473 (18 pages)
Published Online: September 1, 1994
Article history
Received:
June 28, 1993
Online:
March 17, 2008
Citation
Singh, S. K., and Shi, L. (September 1, 1994). "Robust Adaptive Controllers for Interconnected Mechanical Systems: Influence of Types of Interconnections on Time-Invariant and Time-Varying Systems." ASME. J. Dyn. Sys., Meas., Control. September 1994; 116(3): 456–473. https://doi.org/10.1115/1.2899241
Download citation file:
Get Email Alerts
Cited By
Multi Combustor Turbine Engine Acceleration Process Control Law Design
J. Dyn. Sys., Meas., Control
A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear Model Predictive Control Approach
J. Dyn. Sys., Meas., Control (May 2025)
Active Data-Enabled Robot Learning of Elastic Workpiece Interactions
J. Dyn. Sys., Meas., Control (May 2025)
Innovative Pressure Control With ANFIS-Enhanced Mode Switching for High-Speed Pneumatic Systems
J. Dyn. Sys., Meas., Control (May 2025)
Related Articles
Adaptive Control of Mechanical Systems With Time-Varying Parameters and Disturbances
J. Dyn. Sys., Meas., Control (September,2004)
Immersion and Invariance Adaptive Control Through Polynomial Adaptation
Letters Dyn. Sys. Control (October,2024)
Adaptive Control of a Base Isolated System for Protection of Building Structures
J. Vib. Acoust (April,2006)
Real-Time Identification of Time-Varying ARMAX Systems Based on Recursive Update of Its Parameters
J. Dyn. Sys., Meas., Control (May,2014)
Related Proceedings Papers
Related Chapters
Fault-Tolerant Control of Sensors and Actuators Applied to Wind Energy Systems
Electrical and Mechanical Fault Diagnosis in Wind Energy Conversion Systems
Auto-Tuning Method of PIDA Controller Based Ongain Margin and Phase Margin
International Conference on Mechanical Engineering and Technology (ICMET-London 2011)
Scalable Video Streaming Multicast of Multiple Groups over Broadband Wireless Networks
International Conference on Computer Engineering and Technology, 3rd (ICCET 2011)