Adaptive Fuzzy Control via Observer Design for Uncertain Nonlinear Systems With Unmodeled Dynamics

In this paper, the problems of stability and tracking control for a class of large-scale nonlinear systems with unmodeled dynamics are addressed by designing the decentralized adaptive fuzzy output feedback approach. Because the dynamic surface control technique is introduced, the designed controllers can avoid the issue of “explosion of complexity,” which comes from the traditional backstepping design procedure that deals with large-scale nonlinear systems with unmodeled dynamics. In addition, a reduced-order observer is designed to estimate those immeasurable states. Based on the Lyapunov stability method, it is proven that all the signals in the closed-loop system are bounded, and the system outputs track the reference signals to a small neighborhood of the origin by choosing the design parameters appropriately. The simulation examples are given to verify the effectiveness of the proposed techniques.