Adaptive Stabilization and $H_{\infty}$ Control for Switched Nonlinear Port-Controlled Hamiltonian Systems with Parameter Perturbations

The problems of adaptive stabilization and H∞ control for switched nonlinear port-controlled Hamiltonian systems with parameter perturbations are investigated via the multiple Lyapunov functions method. Firstly, based on reasonable assumptions, an adaptive feedback law is designed and sufficient conditions are obtained for the stabilization of the switched system. Secondly, when the external disturbance is considered, an adaptive H∞ feedback controller is given to solve the H∞ control for the switched system. Finally, a numerical example is presented to illustrate the effectiveness of the proposed method.