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Integral Barrier Lyapunov function-based adaptive control for switched nonlinear systems

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Abstract

This paper presents an adaptive control method for a class of uncertain strict-feedback switched nonlinear systems. First, we consider the constraint characteristics in the switched nonlinear systems to ensure that all states in switched systems do not violate the constraint ranges. Second, we design the controller based on the backstepping technique, while integral Barrier Lyapunov functions (iBLFs) are adopted to solve the full state constraint problems in each step in order to realize the direct constraints on state variables. Furthermore, we introduce the Lyapunov stability theory to demonstrate that the adaptive controller achieves the desired control goals. Finally, we perform a numerical simulation, which further verifies the significance and feasibility of the presented control scheme.

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Acknowledgements

This work was supported in part by National Natural Science Foundation of China (Grant Nos. 61803190, 61973147, 61773188, 61751202) and Fundamental Research Funds for the Universities of Liaoning Province (Grant No. JZL201715402).

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Correspondence to Yan-Jun Liu.

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Cite this article

Liu, L., Liu, Y., Chen, A. et al. Integral Barrier Lyapunov function-based adaptive control for switched nonlinear systems. Sci. China Inf. Sci. 63, 132203 (2020). https://doi.org/10.1007/s11432-019-2714-7

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Keywords

  • adaptive control
  • switched nonlinear systems
  • integral Barrier Lyapunov functions
  • backstepping technique
  • full state constraints