Modified high-order adaptive algorithm for decentralized control of multi-agent structurally uncertain plants under disturbance*

The subject of this paper is solving the adaptive dynamic controller design problem for multi-agent systems with structural and parametric uncertainty for the case when derivatives of input and output parameters cannot be measured. The operability of the designed control systems subject to non-measurable bounded disturbances is presented. Only the measurable variables of the local subsystems are used to generate the control actions, therefore control is completely decentralized.