Proceedings of the 2nd International Conference on Intelligent Technologies and Engineering Systems
Abstract: The problem of decentralized control Euler–Lagrange like mechanical systems with high-order interconnections is investigated in this paper. A new decentralized adaptation scheme is proposed to estimate the unknown structure bounds. Then, a decentralized adaptive controller is constructed to guarantee the uniformly ultimate boundedness of the system and the exponential convergence of the tracking error. Finally, a numerical example is given to demonstrate the validity of the results.