Abstract
In this paper, the adaptive fuzzy decentralized tracking control problem is investigated for a class of uncertain large-scale nonlinear systems, interacted through their outputs with completed unknown time-varying delays. The novel contribution is to remove the common assumptions on the unknown time delays by the proposed delay replacement technique, so that the controller design is not dependent on these assumptions any more, and thus, added flexibility in decentralized control design is achieved. Furthermore, the approximation and replacement errors are handled by the adaptive technique. All closed-loop signals are proved to be semiglobal uniform ultimate boundedness, and the tracking errors are guaranteed to converge to a small residual set around the origin. The simulation studies illustrate the effectiveness of the control scheme.
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