Decentralized adaptive control for interconnected boost converters based on backstepping approach

In this article, the local trajectory tracking control problems are reformulated as adaptive control problems. This approach gives rise to a robust decentralized solution, with virtually no information on local plants interaction dynamics. It is shown that when the interconnection effects are viewed as exogenous, unstructured, disturbances, such disturbance can be actively estimated and canceled from each individual subsystem model dynamics. The case presented deals with two interconnected boost DC-DC power converters feeding a time-varying current demand represented by a DC motor with uncertain load torque. Each subsystem is powered by a time-varying power supply. Additionally, we activate and deactivate both converters to verify the output voltage compensation and the inductor current distribution. The performance of the proposed controller is shown to be robust with respect to interaction, un-modeled nonlinearities, and un-modeled dynamics, that is demonstrated by experimental evidence.