Global output feedback tracking control for switched nonlinear systems with deferred prescribed performance |
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| Authors: | Yafeng Li Ju H Park Changchun Hua Qing Geng |
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| Institution: | 1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;2. Department of Electrical Engineering, Yeungnam University, Kyongsan 38541, Republic of Korea;1. State Key Laboratory of Power Transmission Equipment & System Security and New Technology, and Chongqing Key Laboratory of Intelligent Unmanned Systems, School of Automation, Chongqing University, Chongqing 400044, China;2. Chongqing College of Electronic Engineering, Chongqing, 401331, China |
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| Abstract: | In this paper, the global output feedback tracking control is investigated for a class of switched nonlinear systems with time-varying system fault and deferred prescribed performance. The shifting function is introduced to improve the traditional prescribed performance control technique, remove the constraint condition on the initial value, and make the constraint bounds have more alternative forms. To estimate the unmeasured state variables and compensate the system fault, the switched dynamic gain extended state observer is constructed, which relaxes the traditional Lipschitz conditions on the nonlinear functions. Based on the proposed observer, by constructing the new Lyapunov function and using the backstepping method, the global robust output feedback controller is designed to make the output track the reference signal successfully, and after the adjustment time, the tracking error enters into the prescribed set. The stability of the system is analyzed by the average dwell time method. Finally, simulation results are given to illustrate the effectiveness of the proposed method. |
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