Decentralized Adaptive Robust Tracking Controllers of Uncertain Large Scale Systems with Time Delays

The problem of decentralized robust tracking and model following is considered for a class of uncertain large scale systems including delayed state perturbations in the interconnections. In this paper, it is assumed that the upper bounds of the delayed state perturbations, uncertainties, and external disturbances are unknown. A modified adaptation law with σ–modification is introduced to estimate such unknown bounds, and on the basis of the updated values of these unknown bounds, a class of decentralized local memoryless state feedback controllers is constructed for robust tracking of dynamical signals. The proposed decentralized adaptive robust tracking controllers can guarantee that the tracking errors between each time–delay subsystem and the corresponding local reference model without time–delay decrease uniformly asymptotically to zero.