Adaptive Tracking Control of Uncertain Mimo Switched Nonlinear Systems

This paper is devoted to adaptive tracking control for a class of uncertain MIMO switched nonlinear systems. A novel systematic recursive algorithm is proposed to design adaptive update laws and an adaptive controller by multiple Lyapunov functions method combining with backstepping recursive technique. And then, by means of stability theory about the switched systems and the average dwell time conception, two kinds of switching signals are constructed to ensure that all the signals in the closed-loop systems are bounded and the outputs of the switched systems converge to a small neighborhood of the desired trajectories. The effectiveness is investigated by a simulation example.