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