Adaptive control for a class of switched nonlinear systems via backstepping recursive design

This paper focuses on adaptive stabilization problems for a class of switched nonlinear systems in lower triangular structure with uncertain parameter vector. A systematic recursive algorithm for designing an adaptive stabilizing controller is proposed by extending the backstepping method for no-switched nonlinear systems to the switched ones. The constructed controller guarantees the resultant closed-loop switched system to be globally stable in sense of Lyapunov at the equilibrium under the designed switching law and adaptive law. Finally, the simulation of an example is given to show the effectiveness of the proposed recursive approach.