Adaptive stabilization of switched nonlinear systems in parametric output feedback form

In this paper, we consider the problem of adaptive stabilization of switched nonlinear systems in parametric output-feedback form under arbitrary switching. To implement the adaptive backstepping method, proper filters are designed to estimate unmeasured state variables. By using the overparameterization method for updating unknown constant parameters, a common Lyapunov function under a simultaneous domination assumption is obtained and a control law which guarantees global stability of the closed loop switched nonlinear system is developed. Simulation results are presented to show the effectiveness of the proposed method.