Quasi-passivity-based adaptive stabilization for switched nonlinearly parameterized systems

摘要

This paper investigates the adaptive quasi-passification-based stabilization problem for a class of switched nonlinearly parameterized systems via average dwell time method. First, when all the subsystems have any same relative degree, the global practical stability is achieved by combining the recursive feedback quasi-passification design technique with a switched adaptive control technique. The states and parameter estimation errors converge to the ball whose sizes can be reduced by choosing appropriate design parameters. Second, when the system states are unavailable for measurements, adaptive output feedback controllers are designed to stabilize the system using quasi-passivity. The proposed output feedback controllers do not depend on any state observer. Finally, three examples show the effectiveness of the proposed methods.