Fuzzy Direct Adaptive Control for a Class of Decentralized Nonlinear Systems

In this paper, a stable fuzzy direct control scheme is presented for a class of interconnected nonlinear systems with unknown nonlinear subsystems and unknown nonlinear interconnections. In this control algorithm, fuzzy logic systems are employed to approximate the optimal controllers, which are designed on the assumption that all dynamics for each subsystem are known; then the fuzzy controllers and adaptation mechanisms for each subsystem depend only on local measurements to provide asymptotic tracking of a reference trajectory. In addition, a fuzzy sliding mode controller is developed to compensate for the fuzzy approximating errors and attenuate the interactions between subsystems. Global asymptotic stability is established in the Lyapunov sense, with the tracking errors converging to a neighborhood of zero. A simulation example is given to illustrate the performance of the proposed method.

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