Adaptive robust decentralized control for interconnected large-scale nonlinear systems

In this paper, the overparametrization in our earlier work (1999) on decentralized robust control for large-scale nonlinear systems transformable to the extended decentralized strict feedback form is removed. Each subsystem contains asymptotically stable appended dynamics, which is allowed to enter into the chain of integrators affinely via unknown nonlinearities as well as the rest of the subsystem dynamics. The interconnections are assumed to be bounded by nonlinear functions of the states. The uncertainties in the subsystem include both unknown parameters and unstructured dynamics. Subsystems may also be subjected to external bounded disturbances. It is shown that global asymptotic regulation of partial states and global uniform boundedness of the remaining states are guaranteed utilizing partial state feedback in the presence of uncertainties