Safety-Critical Model Reference Adaptive Control of Switched Nonlinear Systems Under Arbitrary Switching

Abstract

This paper studies the problem of safety-critical model reference adaptive control for switched uncertain nonlinear systems. The considered switched reference model whose subsystem possesses safe system behavior is governed by a switching signal to obtain satisfactory performances. In order to weaken the influence of uncertainties, a switching adaptive controller is designed, which does not involve the magnitude and the rate upper bounds of uncertainties. Resorting to the projection operator, different update laws are provided for different subsystems avoiding the conservatism that different subsystems share a common update law. Based on the common Lyapunov function method, a condition is proposed to guarantee the safety of switched systems under arbitrary switching and the boundedness of the state errors between the switched system and the switched reference model.