Switching-dependent prescribed performance adaptive control for switched nonlinear systems with finite-time stability

This paper proposes a switching-dependent prescribed performance adaptive control (SPPAC) scheme for a class of switched nonlinear systems to achieve prescribed tracking performance and practical finite-time stability. To accommodate the distinct performance requirements and dynamic characteristics of individual subsystems, switching-dependent prescribed performance bounds (PPBs) are constructed and adjusted according to the tracking error at switching instants. To address discontinuities in the transformed tracking error induced by these switching-dependent PPBs, a model transformation method is developed to reformulate the original constrained switched system as an equivalent unconstrained system. The SPPAC scheme is designed by using adaptive backstepping under an average dwell-time switching condition. Sufficient conditions are derived to guarantee the boundedness of all closed-loop signals, satisfaction of the prescribed tracking bounds, and practical finite-time convergence. Furthermore, an explicit upper bound on the settling time is established. Finally, two numerical examples are presented to demonstrate the effectiveness of the proposed SPPAC scheme.