Passivity-based tracking control for a class of nonlinear switched systems

This paper solves the tracking control problem of a class of nonlinear switched systems based on passivity. Firstly, all subsystems may not to be bounded reference weakly minimum phase systems; Secondly, the tracking problem of the switched system can be solved even if the problems of all subsystems are not solvable; Thirdly, through the dual design of controller and switching law, the tracking control problem of nonlinear switched systems is solved. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.