Adaptive Tracking Control of Switched Stochastic Non‐Linear Systems With Full State Constraints: A MDADT Switching Method

ABSTRACT This article proposes an adaptive tracking control scheme for a class of switched stochastic non‐linear systems subject to full state constraints (FSCs). A unified framework is established by integrating the adaptive backstepping technique with barrier Lyapunov functions (BLFs) to address the time‐varying full state constraints (TFSCs). Accordingly, utilizing the theorem of stochastic non‐linear systems, a new adaptive state feedback control scheme is developed for a class of switching signals with the mode‐dependent average dwell time (MDADT) property. The proposed adaptive controller is mode‐dependent while the adaptive laws are mode‐independent so as to facilitate an easy deployment of the controller. It is rigorously proven that all signals in the closed‐loop system are bounded in probability, the tracking error converges to a bounded compact set, and the TFSCs are not violated. Finally, simulation examples are conducted to validate the effectiveness of the controller.