Global robust stabilisation of a class of uncertain switched nonlinear systems with dwell time specifications

This paper is concerned with the global robust stabilisation problem for a class of uncertain switched nonlinear systems in lower triangular form under any switching signal with dwell time specifications. The switched systems under consideration allow the uncertainties to appear in the system. We first design two classes of controllers containing a tuning gain. One designed by backstepping is related to a global convergence with respect to a compact set and the other with gain-scaling factor characters a local asymptotic stable toward the origin. A controller selection mechanism is then introduced to determine which class of controller is employed based on the compact set. The gain tuning mechanism related to the dwell time is then proposed to tune online the controller gain. It is shown that under our proposed control strategy, the global robust stability of the closed-loop switched system is achieved with the dwell time specifications. Finally, simulation results are presented to demonstrate the effectiveness of the proposed approach.