Stabilization of Switched Nonlinear Systems by Adaptive Observer-Based Dynamic Surface Control with Nonlinear Virtual and Output Feedback

Abstract

This paper presents a new nonlinear output and virtual error feedback control technique for stabilization of switched uncertain nonlinear systems using a continuous differentiable nonlinear feedback function (NFF). The merits of the proposed method are threefold: (i) there is no assumption that the switching signals must satisfy the (average) dwell time, (ii) the feedback amplitude self-adjusts under different state levels to guarantee better dynamic performance using the NFF, and (iii) the number of parameters that needs online tuning is 1, i.e., the proposed control method is computationally inexpensive. Moreover, the closed-loop signals are kept bounded using the rigorously proved Lyapunov and Invariant-set theorems, and the output signal converges to a sufficiently small region around zero by choosing proper design parameters. Finally, simulation and comparative results are given to demonstrate the effectiveness of the proposed method.