Local adaptive controllers for networked cooperative systems

This paper addresses the design of adaptive controllers for a networked large-scale system subjected to parametric uncertainties. The system in question is assumed to be an interconnection of several subsystems, coupled through physical interconnections and communication networks introduced for the purpose of cooperation. The system-model is assumed to be a large linear time-invariant system with i subsystems, i = 1, ...,N, with multiple inputs and network delays. In order to cope with parametric uncertainties that may be present in the system-model, a local adaptive controller is proposed. It is shown that through suitable choices of Lyapunov functions, stabilization of the overall networked system can be guaranteed. Robustness in the presence of disturbances, unmodeled dynamics, time-delays, and higher-order interconnections is established. It is shown that the local adaptive controller is also capable of dealing with magnitude saturation in the actuators.