Adaptive command filtered control for switched multi‐input multi‐output nonlinear systems with hysteresis inputs

Abstract

SUMMARYThis article is devoted to designing an adaptive command filtered control scheme for a category of multiple‐input multiple‐output switched nonlinear systems with backlash‐like hysteresis. The “explosion of complexity” issue, which comes from the derivatives of the intermediate controller, is eliminated by using a command filter technique. Meanwhile, an error compensation mechanism is introduced to offset the filter error's impact on system performances and overcome the drawback of traditional dynamic surface control methods. Furthermore, a proper Lyapunov function and an adaptive law are fixed in the last step of the backstepping design procedure to surmount the design difficulty arising from the backlash‐like hysteresis nonlinearity. In a word, by utilizing the command filter technique, backstepping algorithm, and average dwell time method, an adaptive controller is constructed, which can not only guarantee that the system outputs track the desired trajectories as far as possible but also ensure all the signals are bounded. Simulation results are provided to illustrate the effectiveness of the proposed scheme.