Adaptive tracking control of switched linear systems with multiple disturbance observers

Abstract

This paper deals with model reference adaptive control for an uncertain switched linear system in the presence of disturbances in the state and control input based on time-dependent switching methods. A novel composite disturbance observer-based adaptive controller with adaptive laws is proposed in a tracking problem of uncertain switched linear system. First, two disturbance observers are proposed to estimate disturbances. Then, a hybrid switched adaptive controller based on state feedback and disturbance observers is designed. Thereafter, based on time-dependent switching signals included dwell-time (DT), average dwell-time (ADT), and the mode-dependent approaches of DT and ADT, a globally uniformly ultimately bounded stability of the closed-loop switched linear system is proved. Finally, the theoretic achievement is applied to a highly manoeuvrable aircraft technology vehicle to demonstrate the significance of the proposed method.