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不確かさをもつ非線形システムにおける適応ロバスト制御理論とその環境システムへの応用に関する研究
博甲第30号生命システム科学博士県立広島大
Switching Control for Parameter Identifiability of Uncertain Systems
This paper considers the problem of identifying the parameters of an
uncertain linear system by means of feedback control. The problem is approached
by considering time-varying controllers. It is shown that even when the
uncertainty set is not finite, parameter identifiability can be generically
ensured by switching among a finite number of linear time-invariant
controllers. The results are shown to have several implications, ranging from
fault detection and isolation to adaptive and supervisory control. Practical
aspects of the problem are also discussed in details
Control of Networked Multiagent Systems with Uncertain Graph Topologies
Multiagent systems consist of agents that locally exchange information
through a physical network subject to a graph topology. Current control methods
for networked multiagent systems assume the knowledge of graph topologies in
order to design distributed control laws for achieving desired global system
behaviors. However, this assumption may not be valid for situations where graph
topologies are subject to uncertainties either due to changes in the physical
network or the presence of modeling errors especially for multiagent systems
involving a large number of interacting agents. Motivating from this
standpoint, this paper studies distributed control of networked multiagent
systems with uncertain graph topologies. The proposed framework involves a
controller architecture that has an ability to adapt its feed- back gains in
response to system variations. Specifically, we analytically show that the
proposed controller drives the trajectories of a networked multiagent system
subject to a graph topology with time-varying uncertainties to a close
neighborhood of the trajectories of a given reference model having a desired
graph topology. As a special case, we also show that a networked multi-agent
system subject to a graph topology with constant uncertainties asymptotically
converges to the trajectories of a given reference model. Although the main
result of this paper is presented in the context of average consensus problem,
the proposed framework can be used for many other problems related to networked
multiagent systems with uncertain graph topologies.Comment: 14 pages, 2 figure
Global Stabilization of Triangular Systems with Time-Delayed Dynamic Input Perturbations
A control design approach is developed for a general class of uncertain
strict-feedback-like nonlinear systems with dynamic uncertain input
nonlinearities with time delays. The system structure considered in this paper
includes a nominal uncertain strict-feedback-like subsystem, the input signal
to which is generated by an uncertain nonlinear input unmodeled dynamics that
is driven by the entire system state (including unmeasured state variables) and
is also allowed to depend on time delayed versions of the system state variable
and control input signals. The system also includes additive uncertain
nonlinear functions, coupled nonlinear appended dynamics, and uncertain dynamic
input nonlinearities with time-varying uncertain time delays. The proposed
control design approach provides a globally stabilizing delay-independent
robust adaptive output-feedback dynamic controller based on a dual dynamic
high-gain scaling based structure.Comment: 2017 IEEE International Carpathian Control Conference (ICCC
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