Adaptive quantised control for switched uncertain nonlinear systems with unknown control directions

This paper is concerned with the problem of global state-feedback regulation for a class of switched uncertain nonlinear systems with quantised input and unknown control directions under arbitrary switchings. A hysteretic quantiser is introduced to avoid actuator chattering. The powers of all subsystems are positive odd rational numbers and depend on the switching signals. Incorporating Nussbaum-type gain technique into adding a power integrator approach, a new adaptive controller is designed to guarantee that all the signals of the closed-loop system are bounded and the system state is globally asymptotically regulated to zero. An example is given to illustrate the validity of the proposed control scheme.