Adaptive Dynamic Surface Control Based on Observer for Switched Non-Strict Feedback Systems With Full State Constraints

As we all know, it is very difficult to design the controller and prove the stability for switched nonlinear systems. Therefore, the engineering application of switching system and the development of switching control theory are limited. In order to solve the control problem for constrained switched system, an adaptive output feedback control scheme based on backstepping technology is studied in this paper for switched non-strict feedback nonlinear systems with asymmetric time-varying full state constraints and unknown external disturbances. A switched state observer based on fuzzy logic system is designed to estimate the unmeasurable states of the uncertain switched system. Asymmetric time-varying barrier Lyapunov functions are adopted to keep the full states of the system satisfying their asymmetric time-varying constraints. A variable separation approach is used to address the algebraic loop problem of non-strict feedback structure. The stability of the closed-loop system and the semi-globally uniformly ultimately bounds of the signals are proved by the Lyapunov method and average dwell time theory. Finally, simulation results are given to show the effectiveness of the proposed control scheme. Different from the existing results, this paper is the first to investigate adaptive control for switched non-strict feedback systems with full state time-varying constraints, unmeasurable states and unknown disturbances, which is a more general case in real systems.