In this paper, adaptive tracking control of switched nonlinear systems in the parametric strict-feedback form is investigated. After defining a reparametrisation lemma in the presence of a non-zero reference signal, we propose a new adaptive backstepping design of the virtual controllers that can handle the extra terms arising from the reparametrisation (and that the state-of-the-art backstepping designs cannot dominate). The proposed adaptive design guarantees, under arbitrarily fast switching, an a priori bound for the steady-state performance of the tracking error and a tunable bound for the transient error. Finally, the proposed method, by overcoming the need for subsystems with common sign of the input vector field, enlarges the class of uncertain switched nonlinear systems for which the adaptive tracking problem can be solved. A numerical example is provided to illustrate the proposed control scheme.

Original languageEnglish
Pages (from-to)1243-1251
JournalInternational Journal of Control
Volume92 (June 2019)
Issue number6
Publication statusPublished - 2017

    Research areas

  • Adaptive tracking control, arbitrarily fast switching, global ultimate boundedness, switched nonlinear systems

ID: 30562369