Robust decentralized control for a class of large-scale interconnected nonlinear systems with bounded disturbances
带有界扰动的一类大型互联非线性系统的鲁棒分散控制

The robust decentralized control is considered for a class of large-scale interconnected nonlinear systems with bounded disturbances. The nominal model of the i-th subsystem has a relative degree ri and a zero dynamics with exponential stability; and the interconnection between subsystems satisfies the matching condition. Applying the linear transformation to the states of each subsystem, we obtain the robust decentralized state feedback controllers which ensure the states of the systems to converge to a small region around the origin. A simulation example also shows the feasibility and effectiveness of the conclusion.