Decentralized control based on modified fuzzy disturbance observer for interconnected nonlinear system

In this paper, a decentralized control based on modified fuzzy disturbance observer for interconnected nonlinear system is developed under the interaction and the internal/external disturbances and both. The performance of modified fuzzy disturbance observer (MFDO) is improved by considering the disturbance reconstruction error which consists of minimum approximation error and optimal parameter error. To adjust the parameters of the MFDO, two tuning methods are proposed by means of Lyapunov stability theorem. One employs only the disturbance observation error for adaptation law to guarantee that the MFDO monitors the disturbance. The other adopts the augmented error to achieve control objective as well. Finally, computer simulation results are illustrated to demonstrate the effectiveness of the MFDO in this paper.