Dissipativity-Based Switching Adaptive Control

This technical note introduces a new dissipativity-based switching adaptive control strategy for uncertain systems. In this approach, the parametric uncertainties in systems are not considered on continuums but studied on finite discrete sets. Differently to multiple model supervisory control, dissipativity-based switching adaptive control needs no estimation errors for each switching decision. The switching logic is designed based on the relationship between dissipativity/passivity and adaptive systems, such that in the process of switching control, a transient boundary can be guaranteed by appropriately switching the parameter estimates. This makes it possible to apply the strategy for nonlinear systems modeled in local regions in the state space. We also discuss the implementation of the new idea to general dissipative systems and feedback passive systems. An example with simulation is employed to show the effectiveness of the approach.