This paper is focused on the decentralized tracking control problem of nonlinear large-scale systems with immeasurable states and unknown nonlinearities in each subsystems and their interconnections in the presence of unknown interconnection delays and uncertain input delays. To deal with inaccessible states and unknown nonlinearities, a fuzzy state observer is firstly constructed. Then, appropriate changes of coordinates are defined to cope with the problem of uncertain input delays and design dynamic surface control strategy for unknown nonlinear interconnected systems. In the design procedures, appropriate Lyapunov–Krasovskii functions are introduced to conquer the difficulties arising from interconnection delays with unknown upper bounds. it is also proven that the proposed method can ensure that all signals of the closed loop large-scale systems in the presence of both interconnection and input delays which have not been considered in previous literature are uniformly ultimately bounded. Furthermore, by appropriate selection of design parameters and matrices, the observation errors as well as the tracking errors converge to small desired values. Finally, to illustrate the effectiveness and efficiency of the proposed decentralized control scheme, numerical simulations are performed.

本文重点研究存在不确定互连延迟和不确定输入延迟的非线性大规模系统的分散跟踪控制问题，该系统在每个子系统及其互连中具有不可测量的状态和未知的非线性。为了处理不可访问的状态和未知的非线性，首先构造了模糊状态观测器。然后，定义适当的坐标变化以应对不确定的输入延迟问题，并为未知的非线性互连系统设计动态表面控制策略。在设计过程中，引入了适当的Lyapunov–Krasovskii函数，以克服由于未知上限而引起的互连延迟带来的困难。还证明了所提出的方法可以确保在既有互连又有输入延迟的情况下，闭环大规模系统的所有信号（以前文献中未曾考虑过）均被统一最终限制。此外，通过设计参数和矩阵适当选择，观测误差以及跟踪误差收敛到小所希望的值。最后，为了说明所提出的分散控制方案的有效性和效率，进行了数值模拟。观察误差和跟踪误差都收敛到较小的期望值。最后，为了说明所提出的分散控制方案的有效性和效率，进行了数值模拟。观察误差和跟踪误差都收敛到较小的期望值。最后，为了说明所提出的分散控制方案的有效性和效率，进行了数值模拟。