stability analysis and adaptive tracking control for a class of switched nonlinear systems based on a nonlinear disturbance observe

This paper is concerned with developing an adaptive method on the basis of a nonlinear disturbance observer (ndo) in order to control a switched nonlinear system in the presence of unknown functions and external disturbances, and under arbitrary switching signals. the proposed approach employs an adaptive backstepping technique, ndo, a fuzzy logic system (fls), and the particle swarm optimization (pso) algorithm. based on a common lyapunov function (clf), the adaptive backstepping technique is used to design a nonlinear state-feedback controller. also, ndo and fls are stated to estimate the disturbances and the unknown nonlinear functions, respectively. in addition, to improve the performance of the closed-loop system, the pso algorithm is used to optimize the controller parameters. finally, simulation examples are taken into account to demonstrate the effectiveness of the proposed strategy.