Decentralized robust preview control for uncertain continuous-time interconnected systems

Abstract

This paper investigates the problem of robust preview tracking control for uncertain continuous-time interconnected systems. We adopt the technology of decentralized control. The tracking controller for each uncertain isolated subsystem is first designed. With the help of an uncertain error system, the considered tracking problem is converted into a regulation problem. The preview tracking controller for the nominal system is obtained by utilizing existing results. A novel method is proposed to tackle the uncertainty in the systems. In this method, the uncertainty bound is incorporated into the cost function. As a result, the preview tracking controller of the nominal system can be treated as a robust preview controller of the uncertain isolated subsystem. Then, the controllers of the uncertain isolated subsystems are assembled as a robust preview controller of uncertain interconnected systems. Finally, an academic numerical example is presented to show the effectiveness and superiority of the proposed controller.