Adaptive Tracking Control for Switched Uncertain Nonlinear Systems With Input Saturation and Unmodeled Dynamics

• Published in: IEEE transactions on circuits and systems. II, Express briefs Vol. 67; no. 12; pp. 3152 - 3156
• Main Authors: Song, Zhibao, Li, Ping, Wang, Zhen, Huang, Xia, Liu, Wenhui
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.12.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Adaptive systems; adaptive tracking control; Circuits and systems; Dynamical systems; Feedback control; input saturation; Liapunov functions; Lyapunov methods; multiple Lyapunov functions; Nonlinear control; Nonlinear dynamical systems; Nonlinear systems; Reference signals; Saturation; Switched nonlinear systems; Switches; Tracking control; Tracking errors; Tracking problem; unmodeled dynamics
• ISSN: 1549-7747; 1558-3791
• DOI: 10.1109/TCSII.2020.2966298

In this brief, the adaptive tracking problem is investigated for switched uncertain nonlinear systems with input saturation and unmodeled dynamics. An auxiliary system is introduced to analyze the effect of input saturation. Unmodeled dynamics are dominated by constructing appropriate Lyapunov functions. Under suitable conditions, a new adaptive tracking controller and a proper switching law are designed by combining the multiple Lyapunov functions (MLFs) method and the backstepping technique. It is shown that the boundedness of the closed-loop system is guaranteed, and the tracking error between the output and the reference signal can be ultimately bounded. An example is provided to demonstrate the validity of the proposed control scheme.