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

Abstract

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.