Event-based Adaptive Output Feedback Prescribed Performance Control for a Class of Switched Nonlinear Systems with Unkno
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Event-based Adaptive Output Feedback Prescribed Performance Control for a Class of Switched Nonlinear Systems with Unknown Control Directions Chunyan Wang*, Mengqi Zhang, Huan Li, and Na Wang Abstract: An event-triggered adaptive tracking control problem is investigated for a class of switched nonstrictfeedback nonlinear systems with unknown control directions and switching signals. With a linear observer, the output feedback stabilization is achieved under arbitrary switching. The key advantages of the proposed control strategy are that the tracking prescribed performance is ensured regardless of the unknown control directions. Only one tuning parameter needs to be estimated during the recursive process. Moreover, with a varying threshold, a common event-triggered mechanism is developed. Based on the Lyapunov stability theory and the dynamic surface backstepping technique, the developed control method theoretically proves that under arbitrary switching, all signals of the resulting closed-loop switched system are bounded and the tracking error can converge to a small neighborhood of the origin within the prescribed bounds. The Zeno behavior is also avoided. The effectiveness and feasibility are demonstrated by two examples. Keywords: Arbitrary switching, event-triggered control, prescribed performance, switched nonlinear systems, unknown control directions.
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INTRODUCTION
Due to the important applications in different practical problems, such as inverted pendulum systems [1], networked control systems [2], circuit and power systems [3], the switched systems have been paid lots of attention in the last decades. Many significant results have been reported mainly from two kinds of switching laws: the constraint switching and the arbitrary switching. Based on the multiple Lyapunov function (MLF) theory, the stability of closed-loop switched systems can be guaranteed under the constraint switching law designed by dwell time (DT) [4], average dwell time (ADT) [5], persistent dwell-time (PDT) [6], mode-dependent average dwell time (MDADT) [7] or state-based switching method [8]. However, when the information of the switching mechanism is unknown or known but uncontrollable, how to stabilize the switched systems under any possible switching law becomes a key problem for the control research of switched systems. Based on common Lyapunov function (CLF) theory [9], scholars have gradually advanced the research on the case of arbitrary switching by introducing the backstepping design technique into the switched systems in triangular forms,
see, e.g., [10–12]. It is worth mentioning that in some cases the control direction of the considered systems is difficult to be detected or be decided from the physical meaning. Such uncertain or unknown factors will reduce the performance of the system and increase the challenge of the control design. Although the unknown control direction problems have been drawn considerable attention in recent years, only a few results
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