Decentralized control of nonlinear uncertain systems with bounded uncertainties

Two classes of decentralized robust controls, namely, nonadaptive and adaptive, are presented for a class of uncertain interconnected nonlinear systems. The uncertainty considered here is time-varying and appears at each system and interconnections. No statistical information of the uncertainty is invoked. The possible bound of the uncertainty is assumed to be known for the nonadaptive robust control. For the adaptive control, the bound is unknown and the adaptive scheme tracks the bound. Compared with nonadaptive control, more assumptions are imposed on the structure of the uncertainty for the use of adaptive control. These assumptions include that no uncertainty appears in the input matrix