SUMMARYIn this paper, we investigate the H 1 control problem for uncertain switched nonlinear systems with passive and non-passive subsystems. For any given average dwell time, any given passivity rate and any given disturbance attenuation level, we design feedback controllers of subsystems, which may depend on the pre-given constants, to solve the H 1 control problem for the uncertain switched nonlinear systems for all admissible uncertainties. For linear systems, the exponential small-time norm-observability is shown to be preserved under disturbance. Two examples are provided to demonstrate the effectiveness of the proposed design method.
This paper investigates the state tracking problem for a class of model reference adaptive control systems with intermittent failures of all actuators. We consider the case that all actuators may suffer failures simultaneously. The concepts of failure frequency and unavailability rate are introduced to describe the failures. Because of the actuator failures, the error system is modeled as a switched system. Then, the notion of global practical stability of switched systems is presented, and sufficient conditions are provided to guarantee the global practical stability of the error system. An example of HiMAT vehicle and the simulation results demonstrate the feasibility and effectiveness of the proposed design method. Lemma 1 indicates that for any r 0 > 0, if the trajectory of the system (12) starts from outside the ball with the radius r 0 , the trajectory may diverge, but not faster than an exponential functioň 2 exp. 2 .t t 0 //ke.t 0 /k . Also, the 'divergence rate' 2 decreases as r 0 increases.Ã , and the reference input is r.t/ D sin.0.01 t / C sin.0.2 t / C sin. t /.
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