ADAPTIVE TRACKING CONTROL OF UNCERTAIN MIMO SWITCHED NONLINEAR SYSTEMS

This paper is devoted to adaptive tracking control for a class of uncertain MIMO switched nonlinear systems. A novel systematic recursive algorithm is proposed to design adaptive update laws and an adaptive controller by multiple Lyapunov functions method combining with backstepping recursive technique. And then, by means of stability theory about the switched systems and the average dwell time conception, two kinds of switching signals are constructed to ensure that all the signals in the closed-loop systems are bounded and the outputs of the switched systems converge to a small neighborhood of the desired trajectories. The effectiveness is investigated by a simulation example.

[1]  Stability , 1973 .

[2]  Marios M. Polycarpou,et al.  A Robust Adaptive Nonlinear Control Design , 1993, 1993 American Control Conference.

[3]  M. Branicky.  Multiple Lyapunov functions and other analysis tools for switched and hybrid systems , 1998, IEEE Trans. Autom. Control..

[4]  A. Morse,et al.  Basic problems in stability and design of switched systems , 1999 .

[5]  Daizhan Cheng,et al.  Stabilization of a class of switched nonlinear systems , 2006 .

[6]  Sheng Zhang,et al.  Backstepping Stabilization for a class of SISO Switched Nonlinear Systems with trigonal structure , 2007 .

[7]  Shuzhi Sam Ge,et al.  Adaptive neural control for a class of switched nonlinear systems , 2009, Syst. Control. Lett..

[8]  Adding an integrator and uniform ISS stabilization for switched MIMO triangular systems with unknown switched signal and right invertible input-output maps , 2010 .

[9]  Fei Long,et al.  Multilayer neural networks-based direct adaptive control for switched nonlinear systems , 2010, Neurocomputing.

[10]  Jun Zhao,et al.  Backstepping design for global stabilization of switched nonlinear systems in lower triangular form under arbitrary switchings , 2010, Autom..

[11]  Tua Agustinus Tamba,et al.  Adaptive backstepping for stabilization of switched nonlinear systems , 2010, 49th IEEE Conference on Decision and Control (CDC).

[12]  Hyeongcheol Lee,et al.  Robust Adaptive Fuzzy Control by Backstepping for a Class of MIMO Nonlinear Systems , 2011, IEEE Transactions on Fuzzy Systems.

[13]  Shaocheng Tong,et al.  Observer-Based Adaptive Fuzzy Backstepping Output Feedback Control of Uncertain MIMO Pure-Feedback Nonlinear Systems , 2012, IEEE Transactions on Fuzzy Systems.

[14]  张强,et al.  Adaptive fuzzy tracking control for a class of switched MIMO nonlinear systems , 2012 .

[15]  Xudong Zhao,et al.  Stability of a class of switched positive linear time‐delay systems , 2013 .

[16]  Jun Zhao,et al.  Backstepping Robust H ∞ Control for a Class of Uncertain Switched Nonlinear Systems Under Arbitrary Switchings , 2013 .

[17]  Peng Shi,et al.  Modeling and adaptive tracking for a class of stochastic Lagrangian control systems , 2013, Autom..

[18]  Peng Shi,et al.  Asynchronous H∞ filtering for switched stochastic systems with time-varying delay , 2013, Inf. Sci..