Decentralized adaptive control using integrator backstepping

In this paper, the integrator backstepping approach together with an adaptive law using parameter projection is employed to design robust decentralized adaptive controllers. The techniques used allow us to relax the relative degree limitations on subsystems and the structural conditions on interactions between subsystems required in some earlier results. Further, no a priori knowledge of the unmodeled dynamics is required. Global stability is established for the closed-loop system and small in the mean tracking error is ensured. (C) 1997 Elsevier Science Ltd.