The problem of decentralised robust tracking and model following is investigated for a class of uncertain large-scale interconnected systems with both any time-varying delays and any dead-zone input constraints. By combining an adaptive approach with a multiply integral inequality proposed recently in the control literature, a new design method is developed so that (i) the designed decentralised robust tracking control schemes are direct, i.e. not the complicated ones composed of two parts, which can overwhelm the dead-zone input constraints; (ii) it is unnecessary to know any information on the characteristic parameters of dead-zone functions and the time-varying delays, which makes the decentralised robust tracking control rather simple. It is also proved that the local tracking error between the output of each actual subsystem with delays and input constraints and the dynamical signals of the corresponding local reference model is uniformly exponentially bounded. Finally, a numerical example is also given to describe the design procedure and the simulations of this numerical example are implemented to demonstrate the validity of the theoretical results.

针对一类具有任何时变延迟和任何死区输入约束的不确定大规模互连系统，研究了分散鲁棒跟踪和模型跟随问题。通过将自适应方法与最近在控制文献中提出的乘积分不等式相结合，开发了一种新的设计方法，以便（i）设计的分散鲁棒跟踪控制方案是直接的，即不是由两部分组成的复杂方案，它可以克服死区输入限制；(ii) 不需要知道任何关于死区函数的特征参数和时变延迟的信息，这使得分散的鲁棒跟踪控制变得相当简单。还证明了具有延迟和输入约束的每个实际子系统的输出与相应的局部参考模型的动态信号之间的局部跟踪误差是一致指数有界的。最后，还给出了一个数值例子来描述设计过程，并通过该数值例子的仿真来证明理论结果的有效性。