Adaptive controller based on the affine equivalent model with disturbance rejection for discrete-time switched systems

Miriam Flores-Padilla and Chidentree Treesatayapun

International Journal of Systems Science, 2023, vol. 54, issue 16, 3059-3070

Abstract: Switched systems often have hard-to-determine models, and the switching time is often unknown. Mismatched model dynamics and/or switching time may lead to performance degradation. Hence, the present work develops an adaptive controller for single-input single-output nonlinear discrete-time switched systems when the mathematical model, switching time and input–output disturbances are unknown. An affine equivalent model-based on Multi-input Fuzzy Rules Emulated Network characterises the unknown system. The control law is derived according to the tracking error, a proposed sliding surface and the affine equivalent model. The controller parameters were set according to the stability analyses (Uniformly Ultimate Bounded-Lyapunov method). Several experiments, including non-switched and switched systems with input and output disturbances, showed a mean perceptual error of less or equal to $ 1 \% $ 1% for all cases, with recovery in the switch cases. This successfully proves the closed-loop performance of the proposed controller on a discrete-time switched and disturbed system.

Date: 2023
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DOI: 10.1080/00207721.2023.2268238

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