一类不确定非线性大系统的分散鲁棒控制器设计

基于Backstepping方法，设计了一类具有不确定性扰动和不确定性关联项的非线性大系统的分散鲁棒稳定控制器。非线性大系统的关联项为时变有界非线性函数且不确定性扰动以仿射非线性方程的形式引入。为了提高系统的控制效果。将：Backstepping递推设计方法与L2增益控制相结合，所设计的分散鲁棒控制器不仅使每个子系统的状态向量跟踪一个指定的期望轨迹。而且还使系统的不确定性干扰具有L2增益控制。

Design of Decentralized Robust Controller for a Class of Uncertain Nonlinear Interconnected Large-Scale System

The design of decentralized robust controller is discussed based on Backstepping method for a class of interconnected large scale systems. The systems have uncertain disturbances and uncertain interconnections. The uncertain interconnections are time varying nonlinear and have bounded function. The uncertain disturbances are introduced with affine nonlinear functions. The Backstepping method combines with L 2gain control for improving the control performance of the large scale system. The decentralized robust controller makes the state vector of each subsystem track an expect input, and makes the whole large scale system have a L 2gain control.