Decentralized adaptive robust controllers with simpler structure of uncertain large scale nonlinear interconnected systems

The problem of decentralized adaptive robust stabilization is considered for a class of uncertain large scale nonlinear interconnected systems. In the paper, it is only assumed that the uncertain nonlinear interconnection terms are bounded in any nonnegative nonlinear functions which are not required to be known. For such a class of uncertain large scale nonlinear systems, a new method is presented whereby a class of continuous decentralized local adaptive robust state feedback controllers with a simple structure is proposed. It is also shown that the solutions of uncertain large scale interconnected systems can be guaranteed to be uniformly exponentially convergent towards a ball which can be as small as desired. Finally, a numerical example is given to demonstrate the validity of the results.