Switched Command-Filtered-Based Adaptive Fuzzy Output-Feedback Funnel Control for Switched Nonlinear MIMO-Delayed Systems

In this article, we consider the problem of switched-command-filtered-based adaptive fuzzy output-feedback funnel control for switched nonlinear multi-input multi-output (MIMO) delayed systems. A switched MIMO high-gain state observer is constructed for each subsystem to estimate unavailable system states. Compared with the conventional command filter technique, the main advantage is that the improved error-compensating signals are designed for each switched subsystem to remove the filtered errors and avoid an explosion of complexity and the singularity problem. Different from the traditional Lyapunov--Krasovskii functional method, design obstacles stemming from unknown time delays are overcome for the switched delayed systems by using appropriate multiple Lyapunov--Krasovskii functions and combining with the approximation capability of the fuzzy logic systems. Under a category of switching signals with mode-dependent average dwell time, all signals in the closed-loop switched system are semiglobally uniformly ultimate bounded under the output-feedback control; meanwhile, the tracking errors can remain in prespecified performance funnels. Case studies illustrate the flexibility and effectiveness of the proposed control approach.