Adaptive Finite‐Time Quasi‐Passification and Finite‐Time Stabilization for Uncertain Switched Nonlinear Systems

ABSTRACT This paper investigates adaptive finite‐time quasi‐passification and finite‐time stabilization problems for uncertain switched nonlinear systems with parameter uncertainties. Finite‐time quasipassivity concept of a switched nonlinear system is first proposed. For each active subsystem, finite‐time quasi‐passivity is satisfied, while at every switching time, the energy is allowed to increase. Compared with passive systems, the supply rate of a quasi‐passive system includes a passivity supply rate and a constant supply rate. Based on this concept, a more general state‐dependent switching law and singularity‐free adaptive feedback controllers are given to achieve finite‐time quasi‐passification, even if the subsystem is not feedback finite‐time quasi‐passive. Then, the corresponding finite‐time quasi‐passivity‐based adaptive stabilization is studied. Finally, a practical example is presented to illustrate the effectiveness of our method.