Switching Logic-based Adaptive Robust Control of Nonlinearly Parameterized Uncertain Systems

In this paper, a switching logic-based adaptive robust control is proposed for a class of nonlinearly parameterized systems (NFS). Specifically, the controller mainly consists of a robust type term to address the system uncertainty, and a switching logic tuning mechanism to update the involved control gain. The constructed controller achieves a global uniformly ultimate boundedness (GUUB) result for the system errors, and simulation results are included to demonstrate the effectiveness of the control law.