Dissipativity-based Switching Adaptive Control

This paper presents a new switching adaptive control strategy for nonlinear systems with uncertainties on discrete finite sets. Differently to multiple model supervisory control, switching adaptive control needs no estimators for switching decisions. The switching logic is designed based on the relationship between passivity (or more generally dissipativity) and the adaptive systems, such that in the process of switching control, the transient boundary can be guaranteed by appropriately switching the parameter estimate. This makes it possible to apply the strategy in nonlinear systems modelled in local regions in the state space. Simulation will be employed to show the effectiveness of the approach.