Robust Decentralized Adaptive Control for Time-varying Interconnected Systems

For a class of time-varying interconnected systems with dynamic interconnections and unmodelled dynamics, by using the backstepping design method and sigma-modification adaptive laws, the problem of robust decentralized adaptive stabilization is considered. It is proved that when the variation rate of time-varying parameters and the magnitude of the unmodelled dynamics change in some ranges, respectively, all the signals in the closed-loop system are bounded, and the output of each a subsystem is relevant to the variation rate of system parameters