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

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.