Adaptive Tracking Control for Persistent Dwell-Time Switched Nonlinear Systems With Uncertainty

In this note, the tracking control issue for the switched nonlinear systems with equation-dependent uncertainty is investigated. The relatively general switching law, persistent dwell-time, is employed to describe the switching property appearing in the uncertainty. The employ of the equation-dependent uncertainty makes the design with higher accuracy when the uncertainties are extremely different from each other. Subsequently, combining with the law of switching times for the persistent dwell-time and the new requirement on the Lyapunov function at the switching instant, the global uniform boundedness of the error variable is obtained. Finally, the feasibility of the design scheme proposed is testified via a numerical example.