TY - JOUR
T1 - Adaptive tracking of switched nonlinear systems with prescribed performance using a reference-dependent reparametrisation approach
AU - Yuan, Shuai
AU - Zhang, Fan
AU - Baldi, Simone
PY - 2017
Y1 - 2017
N2 - 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.
AB - 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.
KW - Adaptive tracking control
KW - arbitrarily fast switching
KW - global ultimate boundedness
KW - switched nonlinear systems
UR - http://resolver.tudelft.nl/uuid:0d852990-d6f3-4f57-8ecf-a3a2acbd7fb9
UR - http://www.scopus.com/inward/record.url?scp=85031789536&partnerID=8YFLogxK
U2 - 10.1080/00207179.2017.1387290
DO - 10.1080/00207179.2017.1387290
M3 - Article
AN - SCOPUS:85031789536
SN - 0020-7179
VL - 92 (June 2019)
SP - 1243
EP - 1251
JO - International Journal of Control
JF - International Journal of Control
IS - 6
ER -