Adaptive Fuzzy Semi-Decentralized Control for a Class of Large-Scale Nonlinear Systems Based on Input-Output Linearization Concept

摘要

Stable direct and indirect adaptive fuzzy controllers are presented for a class of interconnected nonlinear systems with unknown nonlinear subsystems and unknown nonlinear interconnections, which are represented not only in the canonical forms [1] but also in the general forms. Hybrid adaptive robust tracking control schemes which are based upon a combination of the H{sub}∞ tracking theory, and fuzzy control design are developed such that all the states and signals are bounded and an H{sub}∞ tracking control performance is guaranteed without imposing any constraints or assumptions about the interconnections. Extensive simulation example of two-link rigid robotics manipulator is provided to verify the effectiveness of the proposed algorithm.