Decentralized adaptive tracking control for a class of interconnected nonlinear systems via dynamic high‐gain technique

Abstract

In this article, the problem of decentralized adaptive tracking control for a class of interconnected nonlinear systems is investigated, in which the interconnection term in each subsystem is related to the states of all subsystems. By utilizing the backstepping controller design method and dynamic high‐gain technique, two kinds of decentralized adaptive control schemes are developed. Some dynamic parameters are introduced into the controllers to counteract the effects of interactions among subsystems. Moreover, with the aid of graph theory, it is shown that all signals of the closed‐loop system are bounded. The novelty of the proposed method lies in that the tracking accuracy of each subsystem can be preset without adjusting the controller parameters. Finally, two illustrative examples are presented to demonstrate the efficiency of the proposed schemes.