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This paper synthesizes a filtering adaptive tracking control method for uncertain switched multivariable nonlinear systems. The multivariable nonlinear systems under consideration have both matched and mismatched uncertainties, which satisfy the semiglobal Lipschitz condition. A piecewise constant adaptive law will generate adaptive parameters which represent the uncertainty approximations by solving the error dynamics between the real system and the state predictor with the neglection of unknowns, whereas a filtering control law is designed to handle the nonlinear uncertainties and deliver a good tracking performance. The matched uncertainties are cancelled directly by adopting their opposite, whereas a dynamic inversion of the system is required to eliminate the effect of the mismatched uncertainties on the output. The uniform performance bounds are derived for the states and control signals compared with the virtual reference system which defines the best performance that can be achieved by the closed-loop system.

Filtering adaptive tracking control for uncertain switched multivariable nonlinear systems