ABSTRACT Decentralised control of large-scale active–passive modular systems is considered in this paper. The considered class of large-scale systems consist of physically interconnected and generally heterogeneous modules, where local control signals can only be applied to a subset of these modules (i.e. active modules) and the rest do not admit any control signals (i.e. passive modules). Specifically, based on a set-theoretic model reference adaptive control approach predicated on restricted potential functions, we design and analyse decentralised command following control laws for each active module such that they can effectively perform their tasks in the presence of unknown physical interconnections between modules and module-level system uncertainties. The key feature of our framework allows the system error trajectories of the active modules to be contained within a-priori, user-defined compact sets. Thus, they are guaranteed to achieve strict performance guarantees, where this is of paramount importance for practical applications. In addition to our theoretical findings and research contributions, the efficacy of the proposed decentralised adaptive control architecture is demonstrated in an illustrative numerical example.

中文翻译：

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用于控制具有稳定性和性能保证的大规模主动-被动模块化系统的分散式自适应架构

摘要 本文考虑了大规模主动-被动模块化系统的分散控制。所考虑的一类大型系统由物理互连且通常异构的模块组成，其中本地控制信号只能应用于这些模块的一个子集（即有源模块），其余部分不允许任何控制信号（即无源模块） . 具体而言，基于基于受限势函数的集合论模型参考自适应控制方法，我们设计和分析了每个活动模块的分散命令遵循控制律，以便它们能够在模块和模块之间存在未知物理互连的情况下有效地执行任务。模块级系统的不确定性。我们框架的关键特性允许活动模块的系统错误轨迹包含在先验的、用户定义的紧凑集中。因此，它们保证实现严格的性能保证，这对于实际应用至关重要。除了我们的理论发现和研究贡献之外，所提出的分散式自适应控制架构的功效还在一个说明性的数值示例中得到了证明。