Sliding Mode Coordinated Decentralized Adaptive Following of Nonlinear Delayed Plants

In this paper, we develop a coordinated decentralized state-feedback adaptive controllers for a class of large-scale delayed nonlinear interconnected systems. The design is based on a combination of two control techniques: the method of decentralized control with reference model coordination, and the variable structure design methodology. This scheme can not only guarantee closed-loop stability but also improves steady state and transient tracking performance when uncertainties and delays are present in the subsystems and interconnections