Adaptive output feedback tracking control for a class of uncertain switched nonlinear systems under arbitrary switching

ABSTRACT

This paper investigates the problem of adaptive output feedback tracking for uncertain switched nonlinear systems, under arbitrary switching. First, an adaptive output feedback controller is designed, which ensures the boundedness of all the closed-loop signals. Then, a novel adaptive-based robust output feedback control is proposed to drive the tracking error to zero, in which the bound of disturbances is not required to be known in advance. Both control algorithms are based on the common Lyapunov function method, without any restrictions on dwell time. To evaluate the performance of the proposed output feedback control schemes, a numerical example is presented and discussed.

KEYWORDS:

• Adaptive control
• output feedback
• robustness
• switched systems

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Notes on contributors

Elizabeth Noghreian

Elizabeth Noghreian received the B.Sc. degree in electrical power engineering and the M.Sc. degree in control engineering, respectively in 2013 and 2017, from University of Isfahan, Iran. Her current research interests include switched systems and adaptive control.

Hamid Reza Koofigar

Hamid Reza Koofigarreceived the B.Sc. in electronic engineering in 2003, the M.Sc. degree in control engineering in 2005 and his Ph.D. in electrical engineering in 2009, from Isfahan University of Technology, Iran. He is now with the Department of Electrical Engineering, University of Isfahan as an associate professor. His current research interests include robust control, adaptive nonlinear control, hybrid dynamical systems, and robotics.