Abstract
This technical note establishes a novel result for adaptive asymptotic tracking control of uncertain switched linear systems. The result exploits a recently proposed stability condition for switched systems. In particular, a time-varying positive definite Lyapunov function is used to develop a novel piecewise continuous model-reference adaptive law and a dwell-time switching law. In contrast with previous research, where asymptotic tracking was possible only in the presence of a common Lyapunov function for the reference models, in this work asymptotic tracking is shown in a more general setting. Additionally, in the presence of persistence of excitation, the controller parameter estimation errors will converge to zero asymptotically. The main contribution of this work consists in establishing a symmetry between adaptive control of classical non-switched linear systems and adaptive control of switched linear systems. A practical example with an electro-hydraulic system is adopted to illustrate the results.
Original language | English |
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Article number | 7782779 |
Pages (from-to) | 5802-5807 |
Number of pages | 6 |
Journal | IEEE Transactions on Automatic Control |
Volume | 62 |
Issue number | 11 |
DOIs | |
Publication status | Published - 2017 |