Robust adaptive fuzzy semi‐decentralized control for a class of large‐scale nonlinear systems using input–output linearization concept

Stable direct and indirect adaptive fuzzy controllers based on input–output linearization concept are presented for a class of interconnected nonlinear systems with unknown nonlinear subsystems and interconnections. The interconnected nonlinear systems are represented not only in the canonical forms as in Yousef et al . ( Int. J. Robust Nonlinear Control 2006; 16 : 687–708) but also in the general forms. Hybrid adaptive fuzzy robust tracking control schemes that are based on a combination of an H ∞ tracking theory and fuzzy control design are developed. In the proposed control schemes, all the states and signals are bounded and an H ∞ tracking control performance is guaranteed without imposing any constraints or assumptions about the interconnections. Extensive simulation on the tracking of a two‐link rigid robot manipulator and a numerical example verify the effectiveness of the proposed algorithms. Copyright © 2009 John Wiley & Sons, Ltd.