Finite-Time Incremental Passivity and Output Tracking Control for Switched Nonlinear Systems

This paper studies the finite-time incremental passivity of switched nonlinear systems. Then, the established theory is applied to solve the finite-time output tracking control problem of switched nonlinear systems. First, finite-time incremental passivity is firstly defined for switched nonlinear systems. Each subsystem is finite-time incrementally passive during its active time interval. Unlike incremental passivity, the state trajectories of finite-time incrementally passive system with no external supplied energy can converge to each other in finite time. Second, the criterion of finite-time incremental passivity is established. Third, finite-time incremental passivity is shown to be preserved under the feedback interconnection. A composite switching law design method is provided. Under this switching law, the interconnected switched systems can switch asynchronously. Finally, the finite-time output tracking control problem was solved by the established finite-time incremental passivity theory of the switched nonlinear systems, even if the finite-time output tracking control of individual subsytem is not solvable. The effectiveness of the proposed method is verified by an example.