Bumpless Transfer Adaptive Control for Uncertain Switched Non-Linear Systems With Unknown Control Direction

This article investigates the bumpless transfer (BT) adaptive control of a class of uncertain switched non-linear systems with unknown parameters and unknown control direction. The inherent complexities associated with non-linear dynamics and parametric uncertainties make it difficult to mitigate switching bumps caused by abrupt jumps in the control input signal. Existing approaches, such as tuning controller parameters or limiting control gains, have proven ineffective in resolving this challenge. To overcome this, an auxiliary system is constructed to establish a connection between the tracking performance and the BT performance, thereby quantifying the impact of switching bumps. A BT adaptive control scheme is proposed to accommodate the dynamic uncertainties by estimating switching parameters. Moreover, a mechanism to manage the unknown control direction is incorporated by appropriately selecting the control direction for the auxiliary system. The proposed BT adaptive control scheme ensures that all the closed-loop signals and the tracking error remain ultimately bounded. Simultaneously, it guarantees satisfactory BT performance, with the flexibility to modify design parameters for further improvements. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control schemes.