Robust Adaptive State Constraint Control for Uncertain Switched High-Order Nonlinear Systems

Under the weaker conditions on system power and nonlinear functions, this paper focuses on the robust adaptive state constraint control for a class of uncertain switched high-order nonlinear systems. With the help of $p$-times differentiable unbounded function, a robust adaptive state-feedback controller is designed by combining the homogeneous domination approach with parameter separation principle. When the initial condition satisfies a suitable requirement, it is shown that all signals of the closed-loop system are bounded and system state is within a prespecified limit range by the proposed controller. As a practical application, the design scheme is utilized to the continuous stirred tank reactor with two modes feed stream. To further demonstrate the efficiency of the proposed controller, another numerical example is given.