Adaptive Finite-Time Command-Filtered Control for Switched Nonlinear Systems with Input Quantization and Output Constraints

This article considers the problem of finite-time command-filtered control for switched nonlinear systems with input quantization and output constraints. The unmeasurable state is estimated by designing a switched state observer. During the design process, to overcome the chattering problem effectively, the hysteresis quantization is designed as two bounded nonlinear functions. Furthermore, in order to restrict the output to an expected range, the barrier Lyapunov function approach is introduced. The explosion of complexity and the error compensation problems in the backstepping design are solved by using a finite-time command-filtered approach. A first-order Levant differentiator is used instead of the general command filter in this paper, which can not only filter the intermediate signals accurately to get the differential signals, but also ensure the finite-time stability of the filter. Stability of the closed-loop system in the sense of semi-global practical finite-time stability (SGPFS) is proved by exploring a multiple Lyapunov functions approach. Finally, a simulation example is provided to verify the validity of the presented control method.

Automated summary

This article considers the problem of finite-time command-filtered control for switched nonlinear systems with input quantization and output constraints. The unmeasurable state is estimated by designing a switched state observer. Hysteresis quantization and barrier Lyapunov function approach are used to solve the chattering problem and restrict the output to an expected range. A first-order Levant differentiator is used to accurately filter the intermediate signals and ensure the finite-time stability of the filter. Stability of the closed-loop system is proved using multiple Lyapunov functions.