Decentralised ℒ1 adaptive control for large-scale non-linear systems with interconnected unmodelled dynamics

Abstract

In this study, the authors investigate a decentralised ℒ1 adaptive controller design for a class of large-scale non-linear systems, with stable linear part and with interconnected non-linearities and unmodelled dynamics. The decentralised adaptive identifiers are presented to design the decentralised ℒ1 adaptive control scheme. The local ℒ1 adaptive controller for each subsystem ensures uniformly bounded transient tracking for subsystem's input and output, simultaneously. The controlled closed-loop decentralised adaptive system can recover the performance of the closed-loop large-scale centralised reference system by increasing the adaptation rates of local controllers. Simulation results for two inverted pendulums on carts are presented to show the effectiveness of the proposed control scheme.