Practical tracking control for a class of high-order switched nonlinear systems with quantized input.

Area of Science:

• Control Systems Engineering
• Nonlinear Dynamics
• Systems Theory

Background:

• Switched nonlinear systems present challenges due to arbitrary switching and signal-dependent dynamics.
• Practical tracking control requires managing system states and minimizing errors under realistic constraints.

Purpose of the Study:

• To develop a global practical tracking control strategy for high-order switched nonlinear systems.
• To address control input quantization using a logarithmic quantizer.
• To ensure finite-time convergence of tracking errors and global boundedness of system states.

Main Methods:

• Utilizing a sector-bounded approach for control input handling.
• Designing a homogeneous output feedback controller via a power integrator technique for the nominal system.
• Applying homogeneous domination and coordinate transformation for scaled controllers.

Main Results:

• Achieved global boundedness of all system states under arbitrary switching.
• Ensured tracking error converges to an arbitrarily small neighborhood of the origin in finite time.
• Validated the controller's effectiveness through two illustrative examples.

Conclusions:

• The proposed homogeneous output feedback control strategy effectively solves the global practical tracking problem for the considered class of systems.
• The method successfully handles quantized control inputs and arbitrary switching, ensuring robust performance.
• The finite-time convergence and state boundedness demonstrate the practical applicability of the developed control techniques.