p-Times differentiable unbounded functions for robust control of uncertain switched nonlinear systems with tracking constraints

摘要

This paper investigates the problem of robust controller design for output-constrained and state-constrained uncertain switched nonlinear systems. By using the idea of p-times differentiable unbounded functions and the backstepping technique, a constructive method is proposed to design effective controllers such that the output of a class of uncertain switched nonlinear systems in lower triangular form can asymptotically track a constant reference signal without violation of the output tracking error constraint. Furthermore, the explored method is applied to the state-constrained robust stabilization problem for a class of general uncertain switched nonlinear systems. Finally, a simulation example is provided to demonstrate the effectiveness of the developed results. Copyright (c) 2014 John Wiley & Sons, Ltd.