Robust output feedback control of uncertain switched Euler-Lagrange systems

Output feedback (OFB) controllers for switched systems have been typically developed for linear systems. Of the OFB controllers that have been designed for switched nonlinear systems, at least partial knowledge of the system parameters is required, or the system results in local stability. In this paper, an OFB, time-dependent, switched controller is developed for an Euler-Lagrange system with parametric uncertainty and exogenous disturbances. The time-dependent switching signal is designed using an average dwell-time scheme based on multiple Lyapunov functions such that the switched system achieves semi-global uniformly ultimately bounded (UUB) tracking with arbitrary switching sequences.