This paper is concerned with the switched decentralized adaptive control design problem for switched interconnected nonlinear systems under arbitrary switching, where the actuator failures may occur infinite times and the control directions are allowed to be unknown. By introducing a Nussbaum-type function and an integrable auxiliary signal, a switched decentralized adaptive control scheme is developed to deal with the potentially infinite times of actuator failures and the unknown control directions. The basic idea is to design different parameter update laws and control laws for distinct switched subsystems. It is proved that the state variables of the resulting closed-loop system are asymptotically stable. Finally, a numerical simulation on a double-inverted pendulum model is given to verify the proposed control scheme.

中文翻译：

---

一类切换互连非线性系统的自适应分散控制器设计


本文研究的是任意切换下的切换互连非线性系统的切换分散自适应控制设计问题，其中执行器故障可能发生无限次，并且允许控制方向未知。通过引入努斯鲍姆型函数和可积辅助信号，开发了一种切换分散式自适应控制方案，以处理潜在的无限次执行器故障和未知的控制方向。其基本思想是为不同的切换子系统设计不同的参数更新律和控制律。证明了所得到的闭环系统的状态变量是渐近稳定的。最后，通过双倒立摆模型的数值模拟验证了所提出的控制方案。