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Model reference robust adaptive control for a class of uncertain switched linear systems
Author(s) -
Wang Qing,
Hou Yanze,
Dong Chaoyang
Publication year - 2012
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1744
Subject(s) - control theory (sociology) , controller (irrigation) , bounded function , computer science , linear system , lyapunov function , adaptive control , linear matrix inequality , mathematics , control (management) , nonlinear system , mathematical optimization , mathematical analysis , physics , quantum mechanics , artificial intelligence , agronomy , biology
SUMMARY In this paper, we proposed a model reference robust adaptive control approach for a class of uncertain switched linear systems, in which subsystems of the switched linear system are in control canonical form. The control architecture is composed of a switched reference system (SRS) and a switched adaptive controller (SAC). The SRS specifies the desired dynamics of the uncertain switched linear system, while the SAC makes the uncertain switched linear system dynamics track the SRS dynamics. By multiple Lyapunov functions method, we prove that the closed‐loop switched system is uniformly bounded under arbitrary switching laws, provided that a linear matrix inequality (LMI)‐based sufficient condition is satisfied. We apply the proposed approach to a typical servo‐hydraulic positioning system. The simulation results show that the proposed approach is fairly insensitive to disturbances, uncertainties and non‐smoothly varying dynamics, and performs better than a proportional‐derivative controller or a minimal controller synthesis controller. Copyright © 2011 John Wiley & Sons, Ltd.