Adaptive Switching Controllers for Tracking using Persistent Excitation

TL;DR

This paper presents a co-designed adaptive switching control and hybrid communication architecture for distributed systems, ensuring bounded solutions and tracking despite disturbances by leveraging persistent excitation techniques.

Contribution

It introduces a novel co-design of adaptive switching controllers with hybrid communication protocols for improved tracking in distributed systems with unknown parameters.

Findings

Ensures bounded solutions in the proposed system.

Achieves tracking despite disturbances.

Uses persistent excitation for parameter convergence.

Abstract

The focus of this paper is on the co-design of control and communication protocol for the control of multiple applications with unknown parameters using a distributed embedded system. The co-design consists of an adaptive switching controller and a hybrid communication architecture that switches between a time-triggered and event-triggered protocol. It is shown that the overall co-design leads to an overall switching adaptive system that has bounded solutions and ensures tracking in the presence of a class of disturbances. In order to achieve the goal of tracking persistent excitation techniques are used.