Adaptive backstepping based tracking control of a class of uncertain switched nonlinear systems
Abstract In this paper, we propose two adaptive control schemes to solve the output tracking control problem of a class of uncertain switched nonlinear systems. The first is a robust scheme constructed based on common Lyapunov function method, aiming to achieve the insensitivity of closed loop system to parameter switches by estimating the bound on switching parameters. It is analyzed that the system stability under arbitrary switching is established with such a scheme, but the control input required may be relatively large since the estimate of the bound on switching parameters is utilized. To avoid this, we further propose a direct adaptive control scheme by estimating the switching parameters directly, and derive a dwell time condition for parameter switches based on an extended multiple Lyapunov functions method newly developed, such that the global boundedness of all the closed loop signals and the convergence of tracking error to a residual around zero are ensured. The effectiveness of the proposed control schemes is illustrated through simulation studies.
Autom.