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.
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