Switched adaptive stabilization of switched nonlinearly parameterized cascade systems and its application to a two inverted pendulums
Summary

This paper studies adaptive control of switched nonlinearly parameterized cascade systems. No solvability of the adaptive control problem for subsystems is required. By exploiting the multiple Lyapunov functions method and the parameter separation technique and the tool of adding a power integrator, we develop a new switched adaptive control approach for the explicit construction of adaptive controllers of subsystems and a proper switching law that solves the adaptive stabilization problem. A key feature of the proposed adaptive controllers is its switched property, namely, each subsystem has its individual update law. A two-inverted pendulum as a practical example is also provided to demonstrate the effectiveness of the proposed design method. Copyright © 2014 John Wiley & Sons, Ltd.