Decentralized Adaptive Control of Interconnected Systems
关联系统的分散自适应控制

The decentralized adaptive control of a class of large scale systems is investigated in this paper. A group of adaptive laws with stronger robustness are given. When there exists among vatious subsystems an arbitrary interconnection with unknown parameters, nonlinearities and bound disturbances, the state and parameter errors will converge to the bound residual sets exponenetially if the relative degree n~* of the transfer function of each decoupled subsystem is less than or equal to two.