Passivity-based Tracking Control For A Class Of Nonlinear Switched Systems

Nonlinear switched systems are a kind of complex and important hybrid systems,which have important theoretical significance and extensive practical application background.Due to the hybridity of the switching system itself and the complexity of the nonlinear system,the research on nonlinear switched systems is challenging.At present,the theoretical framework of the nonlinear switching system is not perfect.In addition,passivity,as an important feature of the relationship between input and output of control systems,has been widely used in the research of non-switched systems.However,for nonlinear switched systems,the research based on passivity problems has just started,and the research results are relatively limited.In this paper,the feedback passivation problem of nonlinear switched systems is studied and the tracking problem of nonlinear switched systems is studied based on passiveness.The main work is summarized in the following two aspects:(?)Based on passification,the H_?tracking problem of a class of switched nonlinear systems with disturbances is studied.In this section,each subsystem does not need to be a bounded reference weakly minimum phase system.Even if the H_?tracking problem of each subsystem is not solvable,the H_?tracking problem of the whole system can also be solved.Firstly,the condition of system feedback passivation is given by the design of the state feedback controller.Secondly,the performance index of the system to meet the H_?tracking problem is given by the multiple Lyapunov function method with the dual design of the appropriate controller and the allowed switching signal.(?)Feedback passivation of switched nonlinear systems is studied based on multiple Lyapunov function method.Even if each subsystem is not passive,the system feedback can be equivalent to a passive system by designing an output feedback controller and a state-dependent switching signal.Finally,the work of this paper is summarized,and points out the shortcomings Meanwhile,the future research work is prospected.