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Journal of Applied Sciences

Year: 2009  |  Volume: 9  |  Issue: 5  |  Page No.: 892 - 900

A Decentralized Stable Fuzzy Adaptive Controller for Large Scale Nonlinear Systems

R. Ghasemi, M.B. Menhaj and A. Afshar


A new method to design a decentralized Fuzzy Adaptive Controller (FAC) for a class of large scale nonaffine nonlinear systems is proposed in this study. It is assumed that functions of the subsystems and their interactions are unknown. To design controller, the lyapunov function is proposed for the system and then unknown parameters of controller and system are derived based on the stability theory. The robustness against uncertainty and external disturbance, the boundedness of the estimation errors, the convergence of the output error to zero and the lyapunov stability of the closed loop system are guaranteed. To use the knowledge of the experts in FAC is another advantage of controller. Robust adaptive control has been used to avoid chattering in adaptation laws. An illustrative example is given to show the promising performance of the proposed method.

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