Decentralized adaptive approximation based control with safety scheme outside the approximation region

This paper presents a decentralized adaptive approximation based control scheme for a class of interconnected nonlinear systems. The feedback control law consists of two schemes, an adaptive approximation controller operating inside a chosen approximation region and a decentralized safety scheme for outside the approximation region. Within the approximation region, linearly parameterized neural networks with a dead-zone modification are used to adaptively approximate the unknown dynamics of each subsystem, as well as the unknown interconnections. Outside the approximation region, the decentralized safety control scheme is designed to steer back the trajectory by using an adaptive bounding approach. A rigorous stability analysis is presented and a simple simulation example is used to illustrate the decentralized adaptive control methodology.