一类不确定大系统的分散变结构模型跟随控制

Decentralized Variable Structure Model Following Control for a Class of Uncertain Large-Scale Systems

针对一类具有不确定参数和外界扰动的非线性大系统 ,在子系统互连项上界具有多项式形式的条件下 ,提出了一种分散变结构模型跟随控制器设计方案。该控制器不需要未知参数变化、外界扰动以及子系统互连上界的先验信息 ,能够通过自适应率对上述信息进行在线估计。在保证闭环大系统渐近稳定的条件下 ,同时实现了各个子系统滑动模态的存在性和可达性。

A decentralized variable structure model following controller is designed for a class of uncertain nonlinear large scale systems with interconnections whose upper bounds have the form of polynormials. Without a priori knowledge of the upper bounds of unknown parameters, interconnections between subsystems and extemal disturbances, the stability of the closed loop large scale system is guaranteed by adaptive laws. Furthermore, the sliding mode of each subsystem exists and is reachable. Theoretical analysis and simulation results show the effectiveness of the controller.