Reference:
S. Yuan,
B. De Schutter, and
S. Baldi,
"Robust adaptive tracking control of uncertain slowly switched linear
systems," Nonlinear Analysis: Hybrid Systems, vol. 27, pp.
1-12, Feb. 2018.
Abstract:
In this paper, robust adaptive tracking control schemes for uncertain
switched linear systems subject to disturbances are investigated. The
robust adaptive control problem requires the design of both adaptive
and switching laws. A novel adaptive law is proposed based on an
extended leakage approach, which does not require knowledge of the
bounds of the uncertainty set. Two switching laws are developed based
on extended dwell time (DT) strategies: a) mode-dependent dwell time
(MDDT); b) mode-mode-dependent dwell time (MMDDT). MDDT exploits the
information of the known reference model for every subsystem, i.e.,
the dwell time is realized in a subsystem sense. MMDDT is a variant of
MDDT that can guarantee stability under faster switching than MDDT,
provided that the next subsystem to be switched on is known. The
proposed adaptive schemes can achieve global uniform ultimate
boundedness for shorter switching intervals than state-of-the-art
adaptive approaches based on DT. In addition to global uniform
ultimate bounded stability, transient and steady-state performance
bounds are derived for the tracking error. The numerical example of a
highly maneuverable aircraft technology vehicle is adopted to
demonstrate the effectiveness of the proposed adaptive methods.