%0 Journal Article
%T Stability analysis and robust tracking control for a class of switched nonlinear systems with uncertain input delay
%A Amir Rikhtehgar Ghiasi
%A Mohammad Ali Badamchizadeh
%A Saeed Pezeshki
%A Sehraneh Ghaemi
%J Transactions of the Institute of Measurement and Control
%@ 1477-0369
%D 2019
%R 10.1177/0142331218794264
%X In this paper, the stability issue and tracking control problem for a class of switched nonlinear systems with uncertain input delay and disturbance are investigated. First, it is assumed a piecewise Lyapunov function exists for the nominal system (system without input delay and disturbance), and then, under the terms of the hypothetical piecewise Lyapunov function, a new Lyapunov-Krasovskii functional is constructed. By employing this new function and a switching signal which satisfies the average dwell time, the delay-dependent input-to-state stability under a certain delay bound is provided; also, a mechanism is invented to find the upper bound for input delay of switched system. In the next step, tracking control problem for this system is studied. Finally, a kind of state feedback control law which ensures conditions of aforesaid hypothetical piecewise Lyapunov function is proposed to guarantee the input-to-state stability and the robust model reference tracking performance. Simulation examples are given to illustrate the effectiveness of the proposed strategy
%K Switched nonlinear systems
%K input-to-state stability
%K model reference tracking control
%K input delay
%U https://journals.sagepub.com/doi/full/10.1177/0142331218794264