Adaptive Tracking for Uncertain Switched Nonlinear Systems With Prescribed Performance Under Slow Switching
针对一类具有未建模动态和非严格反馈结构的不确定切换非线性系统，提出了一种基于神经网络的自适应反步控制方法，在慢切换条件下实现预设性能跟踪。
This article considers the problem of adaptive prescribed performance tracking control via slow switching for a general class of uncertain switched nonlinear systems (SNSs) with unmodeled dynamics (UDs) and nonstrict-feedback structure. The UDs are not in their form of the input-to-state practical stability and their state information is unmeasurable. By reassigning the function variables, the coupling effects between UDs and the prescribed performance function are eliminated through the iterative process. In virtue of the neural networks (NNs) approximation capability, a novel adaptive backstepping procedure is proposed without adding extra first-order filters. By choosing an appropriate slow switching law, all the signals of the closed-loop system are bounded, and the system output tracks the reference signal with a prescribed performance level (PPL).