Decentralized Adaptive Regulation for Nonlinear Systems with iISS Inverse Dynamics

This paper considers the decentralized adaptive regulation via output-feedback for nonlinear systems with integral input- to-state stable (iISS) inverse dynamics, nonlinear uncertainties, and unknown control direction. It is shown that all the signals in the closed-loop system obtained are bounded, and the asymptotic regulation is achieved. A numerical example shows the effectiveness of the design.