Adaptive control of interconnected and muliti-agent systems

This thesis deals with the adaptive control of interconnected systems and multi-agent systems, where adaptive control is used to deal with the presence of uncertainties. Generally, two types of uncertainties can occur. The first one is parametric uncertainty, which is most commonly addressed in the literature, and for which several design approaches for adaptive laws have been proposed. The second type of uncertainty is state-dependent uncertainty, which typically arises from the lack of structural knowledge about the dynamics of the system (a typical example being the presence of unmodelled dynamics). Guaranteeing stable adaptation in this scenario poses a big challenge since this type of uncertainty cannot be bounded a priori.