Integral Backstepping Adaptive H∞ Control for a Class of Switched Nonlinear Systems

A control approach is proposed by using integral backstepping adaptive H-infinity controller for a class of switched nonlinear systems with unknown parameters and external disturbance in this paper. The backstepping technique is employed to design the adaptive controller step by step, and integral action is introduced in order to improve the robustness of controller and to ensure the convergence of tracking error to zero at steady state. The effect of external disturbances is attenuated by H-infinity performance. The proposed method can guarantee that the closed-loop system is stable and all signals of the closed-loop system are bounded. Finally, a simulation example shows the effectiveness of the proposed method.