Switching adaptive control of uncertain linear systems

This paper presents a new switching adaptive control strategy for a class of uncertain linear time-varying systems. Small-gain theorem is used for stability of the system without uncertainties. The uncertainties in the system are considered on discrete sets. The switching logic is designed based on the relationship between passivity and the adaptive systems, such that in the process of switching control, tracking control can be guaranteed by appropriately switching the parameter estimate. No estimators are needed for switching. This new method provides a solution for adaptive control of systems with unmeasurable state components. Simulation will be employed to show the effectiveness of the approach.