Adaptive output feedback tracking control for a class of uncertain switched nonlinear systems

摘要

This paper deals with the global output feedback tracking control problem for a class of switched nonlinear systems involving unknown parameters and unmeasured states multiplied by output nonlinearities. The switching information is assumed to be unobservable. To approach this purpose, a modified high-gain observer is introduced, and then an adaptive output feedback controller is constructed by adopting the adaptive backstepping technique. It is shown that, under arbitrary switching the proposed controller can guarantee all signals of the closed-loop system are globally uniformly bounded and the tracking error converges to a residual set that can be made arbitrarily small by properly selecting the design parameters. Simulation results are presented to verify the effectiveness of the proposed approach.