Switching tuning backstepping control of mixed switched nonseparated parameterised nonlinear systems

In this paper, a switching tuning backstepping control scheme is proposed to stabilise a class of mixed switched nonseparated parameterised nonlinear systems. First, the mixed arbitrarily switching nonlinear system consists of different structure subsystems. The subsystems contain different nonseparated parameters nonlinearly. Next, an uniform backstepping controller is designed to stabilise the nonlinear subsystems. Then, a unidirectional exploring switching tuning scheme is proposed to inject into the controller to jumping compensate the double uncertainty and unknown online. The main contribution of the paper is that the adaptive backstepping controller with the exploring switching tuning scheme stabilises the mixed arbitrarily switching nonlinear systems. The detailed simulation synthesis is finally given to exhibit the effectiveness of the proposed controller.

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