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Adaptive Backstepping Stabilization of Uncertain Switched Nonlinear Systems in Parametric Strict-Feedback Form

[+] Author Affiliations
Arash Haghpanah, Mohammad Eghtesad, Mohammad Rahim Hematiyan, Alireza Khayatian

Shiraz University, Shiraz, Fars, Iran

Paper No. IMECE2010-39496, pp. 1027-1032; 6 pages
  • ASME 2010 International Mechanical Engineering Congress and Exposition
  • Volume 8: Dynamic Systems and Control, Parts A and B
  • Vancouver, British Columbia, Canada, November 12–18, 2010
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4445-8
  • Copyright © 2010 by ASME


This paper considers the stabilization problem for a class of parametric switched nonlinear systems under arbitrary switching and parameter uncertainty. A parametric strict-feedback form is adopted in order to represent the switched system. Using the adaptive backstepping approach a common control Lyapunov function under simultaneous domination assumption is constructed and then a control input is designed such that the system is globally asymptotically stable. The design method is developed in a recursive manner and results in an overparametrized adaptive controller. The procedure is illustrated by a descriptive example and the simulation results verify the effectiveness of the designed controller in the system performance.

Copyright © 2010 by ASME



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