The output tracking control for a kind of uncertain networked systems

In this paper, based on the new separation principle, we propose a synthesis method to the output tracking control for a kind of uncertain networked systems which are composed of some heteromorphic subsystems. Facing the complex structure and the possible disturbances which are from the interconnected terms among nodes or external, we design, for each node, the integral feedback with variable gain so that it can remove or eliminate the interconnected parts and disturbances. In such a way, we turn the problem of networked output tracking control into that of decentralized control. Then we need only to consider the control for each of the subsystems respectively, and we can use the proper error feedback control without concerning the influence of interconnected terms and disturbance. Therefore, with little restrictions to the structure of networked systems and using simple control method, we can get satisfactory output tracking results even for tracking some non-smooth signals. The theoretical analysis and simulation results are shown to indicate the effectiveness of the proposed method.