Fuzzy reduced-order observer-based adaptive tracking control for a class of switched non-affine systems

Abstract

This paper investigates an adaptive fuzzy tracking control problem under arbitrary switching for a class of switched non-affine systems with completely unknown nonlinear functions and unmeasurable states. Combining with dynamic surface control (DSC) method and fuzzy approximation technique, an adaptive output-feedback common control approach is presented based on a new fuzzy reduced-order observer which is independent of any switching signal. The given design method does not rely on the boundness assumption about the control gain functions raised by the mean value theorem for non-affine systems, which contributes to the less conservation of the common controller. Meanwhile, the algebraic loop problem caused by the nonstrict-feedback structure and the repeated approximation problem in existing results are also circumvented in the given common control design process. Based on Lyapunov stability theory, the designed common controller can guarantee all the signals in the resulting closed-loop switched systems are uniformly bounded and the tracking error can converge to a small neighborhood of the origin. Two examples are provided to verify the feasibility and practicability of the proposed method.