Adaptive Control Of Nonlinear Switched Systems

With the continuous development of science and technology productivity, remarkable achievements have been made in the field of control, which bring new opportunities and challenges at the same time. Lots of high-class academic achievements have emerged in recent years, most of the results focused on deterministic switching system. Parameter structure possesses indetermination because of under different operating condition in engineering application, hence the self-adaptation control of switching system becomes a research spot increasingly. How to merge between unknown parameter and Lyapunov function design; how to establish switching signals and adaptive controller. All these are problems demanding prompt solutions in the field of switching system.This dissertation aims at the self-adaptation control of non-linear switching system, state restrained problems of system and engineering practice are discussed, adaptive controller of switching system is designed by applying common Lyapunov function to the model of non-linear switching system, design procedures are provided equally. The main works of this dissertation are shown as following:(1) On aspect of switching system project application, reference model adaptive tracking controller is designed which is based on motor model with load switching repeatedly in this thesis. First, mathematical model of motor switching system is built while shifting load is regarded as switching signal. Then adaptive controller of switching system is designed, which solved the problem of tracking error increasing rapidly after load switching and ensured asymptotic tracking of the system.(2) Adaptive back-stepping control of non-linear switching system is researched. Lower-triangular form is established for system model, controller and adaptive law is designed by using recursive inversion. After that the motor model is given, the proposed method is applied to motor output tracking control. The boundedness of system signal is proved by the method of Lyapunov and the designed controller.(3) The research method of state restrained adaptive control of non-liner switching system is given in allusion to system restrained control. Recurrence method of inversion and barrier Lyapunov function is adopted in order to assure state boundary. Asymptotic tracking output under arbitrary switching conditions and state constraint can be ensured so that close-loop signal is bounded. The validity of control strategy can be verified by simulation examples.