Robust Adaptive Scheduled Switched Control

An algorithm for robust adaptive control design for a class of nonlinear single-input-single-output (SISO) switched systems is presented. The control scheme achieves prespecified exponential stability, bounded-input-bounded-state (BIBS) stability, and arbitrary switched system stability. This is achieved for any bounded time varying parametric uncertainty and disturbance without requiring a priori knowledge of such bounds. The algorithm is based on a standard adaptive control architecture with a scheduled periodic switching between a standard adaptation law and an exponentially stabilizing robust one. The results are illustrated through simulations.