Adaptive dynamic surface control of switched MIMO nonlinear systems with input saturation and its application to NSVs.

In this paper, the problem of adaptive tracking control is addressed for a class of switched multi‐input multi‐output (MIMO) nonlinear systems in the presence of external disturbance and input saturation. To efficiently handle the external disturbance, a switched Nussbaum disturbance observer is designed. Also, a switched auxiliary system is constructed to compensate for the effect of the input saturation, which extends the classical control technique from its original non‐switched version to a switched version. A switched dynamic surface control technique is set up by exploiting the common Lyapunov function (CLF) method and backstepping and the Nussbaum gain technique, which overcomes the problem of "explosion of complexity" in the backstepping control designed. It is shown that the proposed control technique is able to guarantee semiglobal uniformly ultimately boundedness of all signals in the closed‐loop system under arbitrary switchings, and the tracking error converges to a small neighborhood of the origin. Finally, the effectiveness of the proposed control technique is illustrated by its application to a variable structure near space vehicle (NSV) with input saturation. [ABSTRACT FROM AUTHOR]