Robust adaptive passification and global stabilisation for uncertain switched nonlinear systems

Abstract

In this paper, we focus on the problems of feedback passification and global stabilisation for a class of uncertain switched non-linear systems with parameter uncertainties and structural uncertainties. A state-dependent switching law and adaptive feedback controllers are designed to render the resulting closed-loop systems passive. The corresponding passivity-based adaptive stabilisation problems for these systems are solved. Finally, a numerical example is presented to illustrate the effectiveness of our method.