Output integral sliding mode based robustified LQ control for switched uncertain systems

This paper presents observation and control methodologies for a class of switched uncertain linear time invariant systems with autonomous location transitions. A switched algebraic hierarchical observer is designed using an output integral sliding mode technique in order to reconstruct the state in every location, based only on the available output information. The sequence of locations is identified using the information given by the switching surfaces and the nominal trajectory generated by a hybrid LQ optimal control. The hybrid LQ control problem is robustified using an integral sliding mode control, allowing to eliminate the perturbations/uncertainties dynamics from the switched uncertain system, theoretically exactly, right after the first moment, using only output information. Simulations illustrate the effectiveness of the proposed approach.