带有界扰动的一类大型互联非线性系统的鲁棒分散输出跟踪

Robust Decentralized Output Tracking for a Class of Large-Scale Interconnected Nonlinear Systems with Bounded Disturbances

对带有界扰动的一类大型互联非线性系统进行了分散输出跟踪设计,通过子系统状态的线性变换,得到分散状态反馈控制律。当反馈控制律作用于该系统时,无扰动时的跟踪误差是渐近趋于零的,当扰动较小时,跟踪误差能够收敛到原点的一个小邻域内,并给出仿真算例说明该结论的可行性和有效性。

In this paper, decentralized output tracking for a class of large-scale interconnected nonlinear systems with bounded disturbances is designed. The decentralized feedback control law is obtained by the linear transformation of each subsystem. When the feedback control law is applied to the systems, the tracking errors with no disturbance go to zero asymptotically;when the disturbance is small, the tracking errors can converge to a small region of the origin. A simulation example shows the feasibility and effectiveness of the conclusion.