Distributed adaptive control for optimal tracking of uncertain interconnected dynamical systems

This paper presents a distributed model reference adaptive control scheme for optimal tracking of an interconnected dynamical system in the presence of system/interconnection uncertainties. A reference model selection which achieves an optimal tracking for the nominal system is introduced by using linear quadratic regulator theory. Then an adaptive control law is developed for the uncertain interconnected dynamical system, where it employs the specified reference model. It is shown that the control law achieves the desired behaviour such that the output of the system asymptotically tracks the output of the reference model in the presence of the uncertainties. An explicit error bound regarding optimal tracking is also established