Adaptive Tracking Control Approach With Prespecified Accuracy for Uncertain Nonlinearly Parameterized Switching Systems

This paper is concerned with the issue of tracking control design for uncertain switching nonlinear systems with nonlinear parameters under arbitrary switching. With the introduction of a common nonnegative function, the desired adaptive controller is constructed through use of the Backstepping technique. Barbalat's lemma is adopted to analyze the stability and tracking characteristic of the closedloop control system. The feasibility and advantages of the suggested approach in this paper are verified through a design example.