Decentralized model reference adaptive control for interconnected robotic systems

摘要

In this paper, we investigate the problem of the decentralized adaptive control with model reference for a class of large-scale interconnected systems. The decentralized adaptive control law can guarantee the asymptotic stability of the overall interconnected system when some conditions are verified. The efficiency of the proposed control approach is highlighted by numerical simulation dealing with the decentralized stabilization of a robot manipulator.