Robust adaptive control for switched nonlinearly parameterised systems with dynamic uncertainties. (English) Zbl 1454.93132
Summary: 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.
MSC:
| 93C40 | Adaptive control/observation systems |
| 93B35 | Sensitivity (robustness) |
| 93C30 | Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) |
| 93C10 | Nonlinear systems in control theory |
Keywords:
adaptive control; output-feedback; robustness; dynamic uncertainties; switched nonlinear systems; average dwell timeReferences:
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