Kybernetika 45 no. 1, 121-136, 2009

Decentralized Robust Tracking Control of Uncertain Large Scale Systems with Multiple Delays in the Interconnections

Hansheng Wu


The problem of the decentralized robust tracking and model following is considered for a class of uncertain large scale systems including time-varying delays in the interconnections. On the basis of the Razumikhin-type theorem and the Lyapunov stability theory, a class of decentralized memoryless local state feedback controllers is proposed for robust tracking of dynamical signals. It is shown that by employing the proposed decentralized robust tracking controllers, one can guarantee that the tracking error between each time-delay subsystem and the corresponding local reference model without time-delay decreases uniformly asymptotically to zero. In this paper, it is assumed that the time-varying delays are any continuous and bounded nonnegative functions, and the proposed decentralized robust tracking controllers are independent of the delays. Therefore, the results obtained in the paper are applicable to large scale systems without exact knowledge of the delays, i. e. large systems with perturbed delays.


large scale systems, decentralized control, time delay, robust tracking


93A14, 93A15, 93B52, 93D21, 34K06