Coordinated decentralised hybrid adaptive output feedback fuzzy control for a class of large-scale non-linear systems with strong interconnections

A novel decentralised hybrid adaptive fuzzy control (HAFC) scheme is developed for a class of large-scale uncertain non-linear systems in this paper. The local controllers are assumed to share the prior information about their individual reference models such that the interconnections between subsystems can be extended to arbitrary non-linearities. The presented controller is a weighted combination of both indirect and direct adaptive fuzzy controllers, and a weighting factor, which is adjusted by the tradeoff between plant knowledge and control knowledge, is adopted to total up both the control efforts. Under the proposed overall control algorithm, the input gains are relaxed from typical positive constants to non-linear functions. The tracking errors of the closed-loop large-scale system are guaranteed to converge to tunable neighbourhoods of the origin. Simulation results substantiate that the proposed decentralised HAFC systems take on smaller control efforts as well as better tracking performance.