DECENTRALIZED ADAPTIVE CONTROLLER-DESIGN FOR LARGE-SCALE SYSTEMS WITH HIGHER-ORDER INTERCONNECTIONS

We investigate decentralized robust adaptive controller design for large-scale interconnected systems. Motivated by real mechanical systems, we consider a general representation of interconnections when the strength of the interconnections is bounded by a pth-order polynomial in states. This is in contrast to other works which have made simpler assumptions about the strength of the interconnections. We investigate several scenarios as the control computations become more distributed until the controllers are completely decentralized. The possible bound of the interconnections is assumed to be known for the decentralized semiadaptive controller. Without the knowledge of these bounds, two adaptive controllers are designed: a decentralized adaptive controller with partially centralized compensation and a fully-adaptive decentralized controller.