Decentralized adaptive control of large-scale non-affine nonlinear systems using wavelet networks

In this paper, a decentralized adaptive wavelet neural network (AWNN) controller for a class of large scale nonlinear systems with unknown, non-affine and nonlinear subsystems and nonlinear interconnections, is proposed. The stability of the closed loop system is guaranteed through Lyapunov stability analysis. In particular, it is shown that the tracking error converges asymptotically to zero. The effectiveness of the proposed decentralized adaptive controller is illustrated by considering a nonlinear system. The simulation results verify the merits of the proposed controller.