Adaptive State Feedback Stabilization of Uncertain Switched Nonlinear Systems Consisting of Feedback Linearizable Non-Switching Dynamics

Abstract

In this paper, we extend the result of adaptive stabilization of nonlinear systems to switched systems. For a class of unknown switched nonlinear systems which consists of feedback linearizable dynamics in its non-switching part, we propose a state feedback adaptive backstepping controller to stabilize the system under arbitrary switching signals, and the knowledge of the bounds of unknown system parameters, except one parameter, are not necessary. The main result is obtained by designing the adaptive controller which tunes the parameters of the transformed bound of the switching parameters, instead of estimates the switching parameters directly. Two examples and simulations are provided to validate the results.