Decentralized Adaptive Control of Large-Scale Affine and Nonaffine Nonlinear Systems

This paper presents a decentralized adaptive control design for a class of large-scale nonlinear systems with unknown subsystems. When the subsystems are modeled by affine equations, a direct adaptive controller is devised based on the Lyapunov theory, so that the stability of the closed-loop system is guaranteed by introducing a suitably driven adaptive rule. A neuro-based structure is proposed when the subsystems are nonaffine, and the stability analysis is also performed based on the Lyapunov theory. Moreover, the unknown interactions among the subsystems are considered as having a nonlinear function against the simple form considered for the affine case. The proposed controllers are employed in an inverted two-pendulum system, and their promising performances are illustrated.