Adaptive asymptotic tracking control of uncertain time-driven switched linear systems

S. Yuan, B. De Schutter, and S. Baldi, "Adaptive asymptotic tracking control of uncertain time-driven switched linear systems," IEEE Transactions on Automatic Control, vol. 62, no. 11, pp. 5802-5807, Nov. 2017.

This paper 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.

Online version of the paper
Corresponding technical report: pdf file (1.39 MB)

@article{YuaDeS:16-027,
author={S. Yuan and B. {D}e Schutter and S. Baldi},
title={Adaptive asymptotic tracking control of uncertain time-driven switched linear systems},
journal={IEEE Transactions on Automatic Control},
volume={62},
number={11},
pages={5802--5807},
month=nov,
year={2017},
doi={10.1109/TAC.2016.2639479}
}

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