Adaptive Asymptotic Tracking Control of Uncertain Time-Driven Switched Linear Systems

作者：Yuan Shuai^*; De Schutter Bart; Baldi Simone

来源：IEEE Transactions on Automatic Control, 2017, 62(11): 5802-5807.

DOI：10.1109/TAC.2016.2639479

• Adaptive asymptotic tracking control
• switched linear systems

This technical note establishes a novel result for adaptive asymptotic tracking control of uncertain switched linear systems. The result exploits a recently proposed stability condition for switched systems. In particular, a time-varying positive definite Lyapunov function is used to develop a novel piecewise continuous model-reference adaptive law and a dwell-time switching law. In contrast with previous research, where asymptotic tracking was possible only in the presence of a common Lyapunov function for the reference models, in this work asymptotic tracking is shown in a more general setting. Additionally, in the presence of persistence of excitation, the controller parameter estimation errors will converge to zero asymptotically. The main contribution of this work consists in establishing a symmetry between adaptive control of classical non-switched linear systems and adaptive control of switched linear systems. A practical example with an electro-hydraulic system is adopted to illustrate the results.

• 出版日期2017-11