Adaptive Tracking Control For A Class Of Nonlinear Switched System

The switching system is a hybrid system consisting of several dynamic subsystems and exchange rules.There are many examples of such systems in the practical application of modern industry,such as power generation systems,transportation systems and mechanical systems.A wider range of applications.Switching systems not only provide simpler systems for modeling complex systems,but also provide better control over sudden environmental disturbances,component failures or repairs,and sudden changes in operating points in real systems.In this paper,we mainly study two types of robust tracking control problems for a class of nonlinear switched systems.The main innovations are as follows:Firstly,a new control method is proposed for a class of nonlinear switching systems with unknown parameters and external disturbances.In other words,the integral function is introduced into the state feedback control law,the use of backstepping technology to eliminate static errors,to obtain higher control accuracy.The derivation process and design method of adaptive robust controller are given.The proposed control scheme can ensure the stability of the closed-loop system.Finally,the simulation example shows the effectiveness of the method.Secondly,for a class of all state-limited nonlinear switching systems,a method of designing an adaptive robust controller using integral type barrier Lyapunov function(i BLF)is proposed.This method uses the technique of backstepping to gradually derive and preserve the bounds of all the signals in the closed-loop system and suppress the influence of the interference on the output.Finally,the simulation example shows the feasibility of the program.