Finite-time adaptive output feedback stabilization of uncertain switched nonlinear systems with time-varying output constraints
摘要
In this paper, the problem of finite-time adaptive output feedback stabilization of uncertain switched nonlinear systems with time-varying output constraints has been investigated. First, by revamping the so-called adding a power integrator technique, state feedback controllers are systematically designed and in order to deal with time-varying output constraints and uncertain parameters, a common Lyapunov function, which contains a time-varying tangent-type barrier function and a quadratic function of parameter estimation, is constructed. Next, appropriate reduced-order switched state observers are constructed deliberately to estimate the unmeasured state, and then combined with the designed state feedback controller, finite-time output feedback stabilization of the closed-loop switched systems is realized with the time-varying output constraints guaranteed simultaneously. Since the constructed common Lyapunov function can degenerate into an unconstrained common Lyapunov function as the output constraints tend to infinity, the proposed method can run uniformly in the constrained/unconstrained frameworks without changing the controller and observer structure. Simulations containing a numerical simulation and the application of the proposed method in continuous stirred tank reactor are presented to illustrate its efficiency.