Adaptive output feedback control of nonlinear systems with nonlinear parameterization: A dwell-time-switching based multiple model adaptive control approach

A dwell-time-switching based MMAC scheme is proposed for the adaptive output feedback control problem of nonlinear systems with nonlinear parameterization. As in [1], the novel idea of combining the monitoring of the adequacy of candidate models (in terms of their estimation performances) in most MMAC schemes with the monitoring of the performance of the active candidate controller is employed and emphasis has been put on the design of candidate controllers, multiple estimators and monitoring signals so that they possess desirable properties. With the candidate controllers, multiple estimators and monitoring signals being carefully designed, a finite time switching result has been obtained, a characterization on the maximum number of switchings is provided, and sufficient conditions are derived to guarantee closed-loop stability. As an application of the dwell-time-switching based MMAC scheme, a constructive design based on back-stepping is provided for the adaptive output feedback control problem of a special class of nonlinearly parameterized systems, which can satisfy all those sufficient conditions to ensure closed-loop stability.