Adaptive Finite-Time Command-Filtered Control for Switched Nonlinear Systems with Input Quantization and Output Constraints.

This article considers the problem of finite-time command-filtered control for switched nonlinear systems with input quantization and output constraints. The unmeasurable state is estimated by designing a switched state observer. During the design process, to overcome the chattering problem effectively, the hysteresis quantization is designed as two bounded nonlinear functions. Furthermore, in order to restrict the output to an expected range, the barrier Lyapunov function approach is introduced. The "explosion of complexity" and the error compensation problems in the backstepping design are solved by using a finite-time command-filtered approach. A first-order Levant differentiator is used instead of the general command filter in this paper, which can not only filter the intermediate signals accurately to get the differential signals, but also ensure the finite-time stability of the filter. Stability of the closed-loop system in the sense of semi-global practical finite-time stability (SGPFS) is proved by exploring a multiple Lyapunov functions approach. Finally, a simulation example is provided to verify the validity of the presented control method. [ABSTRACT FROM AUTHOR]