Considering the overall system as a set of linear subsystems with nonlinear uncertainties and interconnections, the tracking problem is tackled by decentralized control method.

• 将机械臂的轨迹跟踪系统考虑为由线性子系统、非线性关联组成的不确定性复杂系统，采用分散控制方法进行控制器设计。