Adaptive Multi-Switching-Based Global Tracking Control for Switched Nonlinear Systems With Prescribed Performance

This paper is concerned with the tracking control for a class of switched nonlinear systems subject to prescribed performance. Firstly, a barrier function and a normalized function are introduced to achieve prescribed performance control, which ensures that the tracking error evolves within prescribed boundary. Then, multi-dimensional Taylor network provides a new approach for how to estimate the nonlinearity arising from the backstepping control process. Significantly, the proposed multi-switching-based adaptive controller realizes that all signals in the closed-loop system are globally uniformly ultimately bounded while ensuring asymptotic tracking. Different from most existing network-approximation-based control strategies, the developed method in this paper is not only independent of the initial state, but also can achieve global stability. Finally, it is easy to verify the effectiveness of the proposed control method through two simulations.

Automated summary

This paper focuses on the tracking control of a class of switched nonlinear systems with prescribed performance. A barrier function and a normalized function are introduced to achieve prescribed performance control, ensuring that the tracking error stays within prescribed boundaries. Additionally, a multi-dimensional Taylor network is used to estimate the nonlinearity arising from the backstepping control process. The proposed multi-switching-based adaptive controller guarantees globally uniformly ultimately bounded signals and asymptotic tracking, while achieving global stability and independence from the initial state. The effectiveness of the proposed control method is verified through two simulations.