Coordinated decentralized adaptive control with sliding mode of composite plants with time-varying delays in nonlinear interconnections

In this paper, a coordinated decentralized state-feedback model reference adaptive control with a sliding mode is developed for a class of large-scale systems with time-varying delays in the nonlinear interconnections. The design procedure is based on the concept of reference model coordination. A novel decentralized controller parametrization that is robust to unknown information exchange delays and to external disturbances with unknown bounds is proposed.