an observer-based intelligent decentralized variable structure controller for nonlinear non-canonical non-affine large scale systems

in this paper, an observer based fuzzy adaptive controller (fac) is designed fora class of large scale systems with non-canonical non-affine nonlinear subsystems. it isassumed that functions of the subsystems and the interactions among subsystems areunknown. by constructing a new class of state observer for each follower, the proposedconsensus control method solves the problem of unmeasured states of nonlinear noncanonicalnon-affine subsystems. the main characteristics of the proposed observer-basedintelligent controller are: 1) on-line adaptation of the controller and the observer parameters,2) ultimate boundedness of both the output and the observer errors, 3) boundedness of allsignals involved, 4) employing experts’ knowledge in the controller design procedure and 5)chattering avoidance. the simulation results are further carried out to demonstrate better theeffectiveness of the proposed fuzzy based consensus controller method.