Decentralized adaptive tracking of nonlinear large-scale systems with time-varying delays

A decentralized tracking control framework is developed for a class of nonlinear large-scale systems with uncertain nonlinear isolated subsystems and nonlinear interconnections with time-varying delays. The framework is Lyapunov-Krasovskii-based and guarantees semiglobal ultimate boundedness of the resulting closed-loop system. By virtue of fuzzy logic systems (FLSs), neither structure restrictions on the uncertain isolated subsystems nor a priori knowledge of the uncertain time-delayed interconnections among subsystems is required to design the controller.