Stabilising tracking of uncertain switched non-linear systems in semi-strict feedback form

Abstract

This study concentrates on the stabilising tracking problem of a class of switched non-linear systems in semi-strict feedback form with parametric and non-linear uncertainties. The switching signal is arbitrary and occurs on the known non-linear functions. To solve the tracking problem, a switched adaptive robust dynamic surface control approach is proposed. The continuous error signals are constructed using the dynamic surface control approach, so the switched error dynamics is obtained. Then, semi-global stability analysis is discussed by using the common Lyapunov function method, which shows that the solutions of the closed-loop system are uniformly ultimate bounded and the tracking error can be prescribed arbitrarily small. A numerical example is provided to illustrate the effectiveness of the proposed control method.