Adaptive stabilization of a class of uncertain switched nonlinear systems with backstepping control

被引:143
作者
Chiang, Ming-Li [1 ]
Fu, Li-Chen [1 ]
机构
[1] Natl Taiwan Univ, Dept Elect Engn, Taipei 10617, Taiwan
关键词
Switched systems; Adaptive control; Nonlinear control systems; Backstepping control; LINEAR-SYSTEMS; STABILITY; DESIGN;
D O I
10.1016/j.automatica.2014.05.029
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, we focus on the problem of adaptive stabilization for a class of uncertain switched nonlinear systems, whose non-switching part consists of feedback linearizable dynamics. The main result is that we propose adaptive controllers such that the considered switched systems with unknown parameters can be stabilized under arbitrary switching signals. First, we design the adaptive state feedback controller based on tuning the estimations of the bounds on switching parameters in the transformed system, instead of estimating the switching parameters directly. Next, by incorporating some augmented design parameters, the adaptive output feedback controller is designed. The proposed approach allows us to construct a common Lyapunov function and thus the closed-loop system can be stabilized without the restriction on dwell-time, which is needed in most of the existing results considering output feedback control. A numerical example and computer simulations are provided to validate the proposed controllers. (C) 2014 Elsevier Ltd. All rights reserved.
引用
收藏
页码:2128 / 2135
页数:8
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