Decentralised adaptive dynamic surface control for a class of interconnected non-linear systems

This study is devoted to decentralised output-feedback adaptive control for a class of uncertain interconnected non-linear systems. Based on a kind of high-gain K-filters, a dynamic surface control scheme is proposed, which is able to eliminate the explosion of complexity problem inherent in traditional backstepping design and guarantee the L_∞ performance of the tracking errors. Moreover, the adaptive law is necessary only at the first design step, which significantly simplifies the design procedure. An application to coupled inverted double pendulums is given to illustrate the effectiveness of the proposed scheme.