Decentralised direct adaptive fuzzy control for a class of large-scale nonaffine nonlinear systems and application to AHS

Abstract

A novel decentralised direct adaptive fuzzy controller design is presented for a class of large-scale nonaffine uncertain nonlinear systems in this article. By integrating a fuzzy logic system and H _∞ tracking technique, the designed controller is able to adaptively compensate for interconnections and disturbances with unknown bounds, but none of the control and adaptation laws contains a sign function so that control chattering can be shunned. The closed-loop large-scale system is guaranteed to be asymptotically stable and obtain good H _∞ tracking performance. The control approach developed is applied to the following control problem of a string of vehicles within an automated highway system (AHS) and simulation results verify its validity.

Keywords:

• large-scale system
• nonaffine nonlinear
• decentralised control
• adaptive control
• fuzzy control
• H _∞ tracking control
• automated highway system

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Addendum

Acknowledgements

This project was supported by the National Natural Science Foundation of China (51278068, 50808025, 61104014), the Fok Ying Tung Education Foundation of China (122013), the Scientific Research Fund of Hunan Provincial Education Department (08A003) of China, the China Postdoctoral Science Foundation (20110491270), and the Postdoctoral Science Foundation of Central South University.