Year of Publication

2013

Degree Name

Master of Science in Mechanical Engineering (MSME)

Document Type

Master's Thesis

College

Engineering

Department

Mechanical Engineering

First Advisor

Dr. Jesse B. Hoagg

Abstract

This thesis presents decentralized model reference adaptive control techniques for systems with full-state feedback and systems with output feedback. The controllers are strictly decentralized, that is, each local controller uses feedback from only local subsystems and no information is shared between local controllers.

The full-state feedback decentralized controller is effective for multi-input systems, where the dynamics matrix and control-input matrix are unknown. The decentralized controller achieves asymptotic stabilization and command following in the presence of sinusoidal disturbances with known spectrum. We present a construction technique of the reference-model dynamics such that the decentralized controller is effective for systems with arbitrarily large subsystem interconnections.

The output-feedback decentralized controller is effective for single-input single-output subsystems that are minimum phase and relative degree one. The decentralized controller achieves asymptotic stabilization and disturbance rejection in the presence of an unknown disturbance, which is generated by an unknown Lyapunov-stable linear system.

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