一种不确定性线性大系统的分散变结构鲁棒控制新方法

基于变结构控制中的单位向量控制方法，利用系统的复合滑动模态运动渐近稳定条件，推导出了一种适用于存在变化的子系统关联、系统参数摄动和外界干扰的不确定性线性大系统的分散变结构鲁棒控制新方法．与前人工作相比较，该控制方法成倍地减少了分散控制器中的切换变量，并大大减少了所需控制量的大小．该控制算法简单易行，便于工程实现．

On Improving Decentralized Variable-Structure Control of Uncertain Linear Large- Scale System

In our opinion , Chiang's 1993 paper 4] still suffers from two shortcomings: large number of switching variables in decentralized eontroller and high value of control input. We aimto lessen as much as possible these two shortcomings.We adopt Gao's suggestion to achieve a big lessening of Chiang's shortcomings. Gao's suggestion 5] is essentially that ultimate sliding mode control should be used to get better results in many engineering problems. We find Gao's suggestion is indeed very effective for decentialized variable- structure robust control of uncertain lurge- scale system. We consider the following uncertainties: bounded uncertain interconnection terms, system parameter variations, and external disturbances. Our derivation gives eqs. (6 ) though (10) as the mathematical expression of our control law. As comparied with Chiang's method, we reduce the number of switching variables in each decentralized controller from four to one. Figs. 3 and 4 give the simutation results of a numerical example, which do show clearly that control input is much reduced.