Print Email Facebook Twitter Adaptive tracking of switched nonlinear systems with prescribed performance using a reference-dependent reparametrisation approach Title Adaptive tracking of switched nonlinear systems with prescribed performance using a reference-dependent reparametrisation approach Author Yuan, S. (TU Delft Team Bart De Schutter) Zhang, F. (Southeast University) Baldi, S. (TU Delft Team Bart De Schutter) Date 2017 Abstract In this paper, adaptive tracking control of switched nonlinear systems in the parametric strict-feedback form is investigated. After defining a reparametrisation lemma in the presence of a non-zero reference signal, we propose a new adaptive backstepping design of the virtual controllers that can handle the extra terms arising from the reparametrisation (and that the state-of-the-art backstepping designs cannot dominate). The proposed adaptive design guarantees, under arbitrarily fast switching, an a priori bound for the steady-state performance of the tracking error and a tunable bound for the transient error. Finally, the proposed method, by overcoming the need for subsystems with common sign of the input vector field, enlarges the class of uncertain switched nonlinear systems for which the adaptive tracking problem can be solved. A numerical example is provided to illustrate the proposed control scheme. Subject Adaptive tracking controlarbitrarily fast switchingglobal ultimate boundednessswitched nonlinear systems To reference this document use: http://resolver.tudelft.nl/uuid:0d852990-d6f3-4f57-8ecf-a3a2acbd7fb9 DOI https://doi.org/10.1080/00207179.2017.1387290 ISSN 0020-7179 Source International Journal of Control, 92 (June 2019) (6), 1243-1251 Part of collection Institutional Repository Document type journal article Rights © 2017 S. Yuan, F. Zhang, S. Baldi Files PDF Adaptive_tracking_of_swit ... proach.pdf 748.63 KB Close viewer /islandora/object/uuid:0d852990-d6f3-4f57-8ecf-a3a2acbd7fb9/datastream/OBJ/view