Adaptive backstepping-based sampled-data tracking control with prescribed performance for switched nonlinear systems

In this paper, the problem of sampled-data adaptive tracking control for a class of switched nonlinear systems with prescribed performance is considered. In order to guarantee the system is stable and achieves the prescribed performance in sampled-data control, a coordinate transformation satisfying the prescribed performance is introduced. In addition, the neural networks (NNs) used to approximate the unknown nonlinear functions and the backstepping technique are applied to design the sampled-data controller and the adaptive laws. An upper bound on the sampling period is obtained to maintain the stability of the systems. It is confirmed that the designed sampled-data scheme ensures that all signals of the closed-loop system are semi-globally uniformly ultimately bounded (SGUUB) and the tracking error is limited to the prescribed performance function. The effectiveness of the designed control scheme is demonstrated by two simulation examples.