Adaptive fuzzy semi-decentralized control for a class of large-scale nonlinear systems based on input-output linearization concept

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∞ tracking theory, and fuzzy control design are developed such that all the states and signals are bounded and an H∞ 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.