中文摘要：

研究了变形翼的微系统阵列的协调跟踪控制问题。为了增强微系统阵列的协调运动能力，设计了虚拟模型跟踪控制方法。针对在外部干扰作用下的微系统阵列，研究了分布式鲁棒跟踪控制律设计方法，得到线性矩阵不等式形式的控制律参数求解条件，解算方便。理论分析与仿真结果表明：所设计的控制律能够在有外部干扰的情况下，使系统渐近跟踪期望的形状，并具有协调控制能力，使变形翼在跟踪控制的过程中保持形状平滑。

英文摘要：

The cooperative tracking control problem of microsystem array in morphing wings is investigated. To enhance the cooperative capability of the microsystem array, the visual model tracking control method is proposed. The distributed robust tracking control design method is studied for the microsystem array under disturbances. The resulting condition for solving controller parameters is in the form of the linear matrix inequality, and is easy to be solved. Theoretical analysis and simulation results show that the designed controller guarantees the system track the desired shape asymptotically under external disturbances, and have cooperative control capability to keep the shape of morphing wing smooth during the tracking control process.