Adaptive-observer-based output-constrained tracking of a class of arbitrarily switched uncertain non-affine nonlinear systems. (May 2017)

• Record Type: Journal Article
• Authors: Lee, Seung Woo; Yoo, Sung Jin
• Is Part Of: Nonlinear analysis. Volume 24(2017)
• Page Start: 69
• Page End: 82
• Publication Date: 2017-05
• Subjects: Adaptive observer -- Switched non-affine systems -- Output constraints -- Function approximation technique -- Unknown control directions; Nonlinear functional analysis -- Periodicals; Analyse fonctionnelle non linéaire -- Périodiques; Nonlinear functional analysis; Periodicals; 515.7248
• DOI: 10.1016/j.nahs.2016.11.005
• Languages: English
• ISSNs: 1751-570X

Abstract

Abstract: This paper addresses an adaptive output-feedback tracking problem of arbitrarily switched pure-feedback nonlinear systems with time-varying output constraints and unknown control directions. In this work, the tracking problem of switched non-affine nonlinear systems with output constraints is transformed into the stabilization problem of switched unconstrained affine systems. The main contribution of this paper is to present a universal formula for constructing an adaptive state-observer-based tracking controller with only two adaptive parameters by using the common Lyapunov function method. These adaptive parameters in the proposed control scheme are derived using the function approximation technique and a priori knowledge of the signs of control gain functions is not required. The theoretical analysis is presented for the Lyapunov stability and the constraint satisfaction of the resulting closed-loop system in the presence of arbitrary switchings.