Distributed adaptive control for H _∞ tracking of uncertain interconnected dynamical systems

Summary A distributed adaptive control is proposed for tracking of an interconnected dynamical system in the presence of disturbances and system/interconnection uncertainties. A reference model which achieves a robust tracking against disturbances is introduced by using control with transients. Then a distributed adaptive control law is developed for an uncertain interconnected dynamical system, where it employs the specified reference model. It is shown that the boundedness of the error dynamics behaviors as well as zero tracking error in the steady state is guaranteed by the proposed distributed adaptive control in the presence of disturbances and uncertainties. An explicit error bound related to tracking is also established.