Adaptive control design for a class of switched uncertain nonlinear systems with known tracking accuracy

This paper considers the tracking control problem for a class of uncertain switched nonlinear systems under arbitrary switchings. The desired state feedback controller is constructed by introducing the common nonnegative functions and employing the adaptive backstepping technique. Barbalat's lemma is used to analyze the stability and the control performance of the closed-loop system. Especially, under the proposed control scheme, the tracking error satisfies the accuracy assigned a priori, and all the closed-loop signals remain bounded. A simulation example is presented to verify the effectiveness of the proposed control method.