Partial Stability and Adaptive Control of Switched Nonlinear Systems

Partial stability and the adaptive control problem are studied for switched nonlinear systems in this paper. A sufficient condition for partial stability of switched systems is presented using multiple Lyapunov functions. Then, for a switched system with uncertain parameters, a design method is proposed to design adaptive controllers for subsystems and a switching law. Asymptotical stability is achieved even though all the subsystems are unstabilizable, which covers the classical adaptive control of non-switched systems as a special case. The proposed theory and method are validated by an example.