Adaptive Control Techniques for a Class of Large-Scale Systems

The adaptive control of a class of large-scale systems formed of an arbitrary interconnection of subsystems with unknown parameters and bounded disturbances is investigated. New decentralized adaptive controllers are introduced which guarantee boundedness and convergence of the tracking errors to a bounded residual set when disturbances and interconnections are present. In the absence of disturbances, nonlinearities and interconnections the local tracking errors are guaranteed to converge to zero. The effectiveness of the proposed schemes are demonstrated using a simple example.