Robust adaptive control for switched nonlinearly parameterised systems with dynamic uncertainties

ABSTRACT

This paper studies the robust adaptive control problem by partial-state feedback of a class of switched nonlinearly parameterised systems with dynamic uncertainties. A constructive robust adaptive control technique is provided by exploiting the parameter separation technique and backstepping and the average dwell time method. A modified dynamic signal is designed to dominate the dynamic uncertainties. Also, adaptive partial-state feedback controllers of subsystems are constructed explicitly, which guarantee that all signals of the closed-loop system remain bounded under a class of switching signals with average dwell time, while the system output converges to a small neighbourhood of the origin. Meanwhile, the problem of adaptive output-feedback control of a class of switched nonlinearly parameterised systems is solved by constructing a switched observer. An illustration example is used to demonstrate the feasibility of the theoretical results.

Keywords:

• Adaptive control
• output-feedback
• robustness
• dynamic uncertainties
• switched nonlinear systems
• average dwell time

Disclosure statement

No potential conflict of interest was reported by the author.

Additional information

Funding

This work was supported by the National Natural Science Foundation of China under Grants 61773100 and 61773098 and the 111 Project (B16009), and Fundamental Research Funds for the Central Universities under Grant N170405006.