Adaptive finite-time tracking control for a class of switched nonlinear systems with unmodeled dynamics

In this paper, an adaptive tracking control scheme is proposed for a class of switched nonlinear systems with state and input unmodeled dynamics. The unmodeled dynamics are dealt with by introducing a first-order filter and a dynamic signal. K-filters are used to estimate the unmeasured states, and the dynamic surface control (DSC) technique is employed to construct the controller to avoid the explosion problem of complexity. By choosing an appropriate common Lyapunov function, the boundedness of all closed-loop signals is proved, and the tracking error can converge to a small neighborhood of zero in finite time under arbitrary switchings. Finally, a simulation example is provided to show the feasibility and validity of the proposed method.