Abstract

A completely decentralized adaptive fuzzy control procedure is proposed for a class of large-scale nonlinear systems with strong interconnections. The feedback and adaptive controller for each subsystem depend only upon local measurements to provide asymptotic tracking of a reference trajectory. The nonlinearity is approximated using a fuzzy logic method which transforms the nonlinear problems to linear ones. The unknown interconnections and external disturbances are predicted using the orthogonal basis of Hermite. The result of this prediction is taken into consideration in the synthesis of the control law. The proposed controller is combined with a Lyapunov analysis to ensure the stability and convergence. The proposed adaptive algorithm is tested on simulation example to control an interconnected double inverted pendulum.

Keywords: Decentralized Control, Fuzzy Controller, Interconnected Nonlinear System, Orthogonal Basis.

(P1110826001, 528 KB)