Adaptive Control for Stochastic Switched Nonlower Triangular Nonlinear Systems and Its Application to a One-Link Manipulator
针对一类不确定随机切换非线性系统，提出一种基于观测器的自适应输出反馈控制器，仅用一个自适应参数，通过神经网络处理未知非线性函数，并证明李雅普诺夫稳定性，最后用单连杆机械臂仿真验证。
This paper deals with the issue of adaptive observer-based stabilization for a more general class of uncertain switched stochastic nonlower triangular nonlinear systems with average dwell-time (ADT) switching. The completely unknown nonlinear functions possessing the entire states are handled using the neural networks universal approximation property and the variable separation technique. The main novelty of this paper is that it presents a universal formula for constructing an adaptive output-feedback controller of the considered system with only one adaptive parameter by designing a switched state observer. The theoretical analysis shows that the Lyapunov stability of the overall closed-loop system is ensured in the presence of ADT switching. Finally, the effectiveness and practicability of the obtained design scheme are illustrated by two simulation examples.